kinetix 2000 multi-axis servo drives to kinetix 5500 servo ......kinetix 2000 multi-axis servo...

Kinetix 2000 Multi-axis Servo Drives to Kinetix 5500 Servo Drives

Migration Guide

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

Labels may also be on or inside the equipment to provide specific precautions.

Allen-Bradley, Rockwell Automation, and Kinetix are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Table of Contents

Preface Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Kinetix 5500 Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Kinetix 5500 Servo Drive Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Kinetix 5500 Servo Drive Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Kinetix 5500 Servo Drive Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Pre-migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Chapter 1Servo Drive and System Considerations

Engineering Effort and Product Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Controller, Ethernet Cards, and Switches . . . . . . . . . . . . . . . . . . . . . . . . . . 14Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Physical Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Circuit Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Control Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Safe Torque-off Safety Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Chapter 2Servo Drive and System Comparisons Drive Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Output Current Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Dimension Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Dimension Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Kinetix 2000 Servo Drive Dimensions – Integrated Axis Module . 20Kinetix 2000 Servo Drive Dimensions – Axis Module . . . . . . . . . . . 20Kinetix 5500 Servo Drive Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . 21

AC Input Power Wiring and Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22AC Input Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22Circuit Breaker and Fuse Considerations . . . . . . . . . . . . . . . . . . . . . . . 28

Drive Interconnects and Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Motor Power and Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Kinetix 2000 Servo Drives with MP-Series Low Inertia Motors. . . 322090-Series Single Motor Cable Overview . . . . . . . . . . . . . . . . . . . . . . 33Kinetix 5500 (200V-class operation) Servo Drives with

Kinetix VP Low Inertia Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 33Kinetix 5500 (400V-class operation) Servo Drives with

Kinetix VP Low Inertia Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 34Kinetix 5500 Servo Drive Hiperface-to-DSL Feedback

Converter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Kinetix 2000 Servo Drive Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . 36Kinetix 5500 Servo Drive Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . 37

Rockwell Automation Publication 2093-AP001A-EN-P - May 2014 3

Table of Contents

Typical System Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38Kinetix 2000 Servo System Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38Kinetix 5500 Servo Drive System Example . . . . . . . . . . . . . . . . . . . . . . 39

Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Kinetix 2000 Servo Drive Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . 40Kinetix 5500 Servo Drive Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Appendix AConnectors and Field Connections Connector Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Kinetix 2000 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . 43Kinetix 5500 Servo Drive Connector Data . . . . . . . . . . . . . . . . . . . . . . 45

Input Power Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Motor Power and Brake Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Encoder Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48I/O Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Appendix BAbout the Servo Drive System About the Kinetix 2000 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . 51

About the Kinetix 5500 Servo Drive System . . . . . . . . . . . . . . . . . . . . . . . . 52

Appendix CSpecifications Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Kinetix 2000 Servo Drive Converter Power Specifications. . . . . . . . 53Kinetix 2000 Servo Drive Inverter Power Specifications. . . . . . . . . . 54Kinetix 5500 Servo Drive Input Power Specifications . . . . . . . . . . . . 55Kinetix 5500 Servo Drive Output Power Specifications . . . . . . . . . . 56

Control Power Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Kinetix 2000 Servo Drive Control Power Specifications. . . . . . . . . . 57Kinetix 5500 Servo Drive Control Power Specifications. . . . . . . . . . 57

Power Dissipation Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Kinetix 2000 Servo Drive Power Dissipation Specifications . . . . . . 58Kinetix 5500 Servo Drive Power Dissipation Specifications . . . . . . 58

Cable Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Kinetix 2000 Servo Drive Feedback Cable Lengths . . . . . . . . . . . . . . 59Kinetix 5500 Servo Drive Single Motor Cable Lengths . . . . . . . . . . . 59

Environmental Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Kinetix 2000 Servo Drive Environmental Specifications. . . . . . . . . . 60Kinetix 5500 Servo Drive Environmental Specifications. . . . . . . . . . 60

Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Kinetix 2000 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . 61Kinetix 5500 Servo Drive Certifications . . . . . . . . . . . . . . . . . . . . . . . . 61

4 Rockwell Automation Publication 2093-AP001A-EN-P - May 2014

Table of Contents

Appendix DInterconnect Diagrams Kinetix 2000 Servo Drive Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Power Wiring Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63DC Common Bus Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Kinetix 5500 Servo Drive Power Wiring Examples . . . . . . . . . . . . . . . . . . 67Single-axis Drive Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67Bus-sharing Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Appendix ECommunication Configurations Kinetix 5500 Servo Drive Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . 72

Kinetix 5500 Servo Drive Ring Topology . . . . . . . . . . . . . . . . . . . . . . . . . . 73Kinetix 5500 Servo Drive Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . 74


Table of Contents

Preface

Overview The purpose of this migration guide is to provide you with the essential information to determine what hardware design changes may be necessary when migrating from a motion system containing Kinetix® 2000 servo drives to one containing Kinetix 5500 servo drives.

This migration guide contains these chapters and appendices.

IMPORTANT Migrating from a motion control system that uses Kinetix 2000 servo drives to a system that uses Kinetix 5500 servo drives requires a comprehensive design review of the entire motion control system. There are multiple drive replacement combinations, multiple configurations for how the drives can be installed, and how software is applied. In addition there are system wide changes required because of the communication protocol employed.As a result, this migration guide is not an all-inclusive document. It does not describe all the redesign steps that may be required, nor does it contain the detailed product information necessary to finalize the redesign. The generalities of the replacement process are covered, and the decision-making steps likely to be encountered in a typical replacement scenario are described.You will need to review additional product literature (see Additional Resources on page 10) to understand the technical similarities and differences between the Kinetix 2000 servo drive and a Kinetix 5500 servo drive, and to help you determine the proper solution for your migration.

Chapter 1: Servo Drive and System Considerations Describes some of the primary differences and system design considerations between the drive families.

Chapter 2: Servo Drive and System Comparisons Provides information on drive sizing, dimension comparison, input wiring / fusing, motor power, cabling, and system layout.

Appendix A: Connectors and Field Connections Provides information on connector locations, and comparisons for encoder wiring, control wiring, and mains power wiring.

Appendix B: About the Servo Drive System Provides cut-sheet information about both drive families.

Appendix C: Specifications Provides comparisons of the power specifications, cable lengths, environmental specifications, and certifications.

Appendix D: Interconnect Diagrams Provides interconnect diagrams to assist in comparing power wiring and drive connections for both drive families.

Appendix E: Communication Configurations Provides communication topologies for Kinetix 5500 servo drives.


Preface

Kinetix 5500 Servo Drives The Kinetix 5500 servo drives and Kinetix VP low-inertia servo motors provide a cost-effective motion solution that delivers high performance and scalability with motor windings matched to drive ratings for optimized system sizing.

Enhancing the current midrange architecture portfolio, this motion system is designed to connect and operate with the new family of CompactLogix 5370 controllers by using the Studio 5000 environment and supporting Integrated Motion on the EtherNet/IP network. With the benefits of this motion system, you can now run motion applications on a single control platform by using a single network—simplifying the design, operation, and maintenance of equipment.

Kinetix 5500 Servo Drive Features

The Kinetix 5500 servo drive provides the following features:• High performance in a smaller footprint and optimized power density• Single motor cable that includes power, feedback, and brake conductors

with SpeedTec connector• Single-axis operation for low-cost simplicity• Flexible power connectivity in multi-axis bus-sharing configurations

– Shared AC– Shared DC– Shared AC/DC and hybrid configurations

• Integrated motion on the EtherNet/IP network• Safe torque-off control, ISO-13849-1 certified, PLd, category 3• Versatile AC input voltage range

– 195…264V rms, single-phase– 195…264V rms, three-phase– 324…528V rms, three-phase

• Bulletin VPL winding options that match the drive ratings for optimized system sizing– 0.2…14.6 kW continuous output power– 1.4…32.5 A 0-pk, continuous output current (inverter)

• Bulletin 2198 capacitor module and Bulletin 2097 shunt resistor for energy absorption management

• Digital (DSL) feedback device provides real-time motor performance information to the control circuitry– High-resolution absolute, multi-turn, and single-turn encoder feedback

• Capability to run servo and induction motors


Preface

Kinetix 5500 Servo Drive Components

Kinetix 5500 servo drive systems consist of these required components:• One 2198-H0xx-ERSx servo drive• One Kinetix VP servo motor, induction motor, or MP-Series rotary motor

or linear actuator– MP-Series compatibility requires 2198-H2DCK converter kit

• One 2090-CSxM1DF-xxAAxx motor cable for power, feedback, and brake connections

• One 1606-XLxxx 24V power supply for control and motor brake power• 1585J-M8CBJM-x (shielded) Ethernet cable

Kinetix 5500 servo drive systems can also include any of these optional components:

• One 2198-CAPMOD-1300 capacitor module• One 2198-DBxx-F AC line filter• One 2097-Rx shunt resistor• Bulletin 2198 shared-bus connection system

For detailed Kinetix 5500 servo drive system requirements, see the Kinetix 5500 Servo Drive Systems Design Guide, publication GMC-RM009.

Kinetix 5500 Servo Drive Selection

For Kinetix 5500 servo drive module specifications not included in this publication, see the Kinetix Servo Drives Technical Data, publication GMC-TD003.

Kinetix 5500 Servo Drive Cat. No.

Frame Size

Input Voltage Continuous Output PowerkW

Continuous Output CurrentA 0-pk

2198-H003-ERSx

1195…264V rms, single-phase195…264V rms, three-phase324…528V rms, three-phase

0.2 kW0.3 kW0.6 kW

1.4 A

2198-H008-ERSx0.5 kW0.8 kW1.6 kW

3.5 A

2198-H015-ERSx

2

1.0 kW1.5 kW3.2 kW

7.1 A

2198-H025-ERSx

195…264V rms, three-phase324…528V rms, three-phase

2.4 kW5.1 kW

11.3 A

2198-H040-ERSx4.0 kW8.3 kW

18.4 A

2198-H070-ERSx 37.0 kW14.6 kW

32.5 A


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Preface

Pre-migration Motion Analyzer software – is a comprehensive motion-application sizing tool used for analysis, optimization, selection, and validation of your Kinetix motion control system. This software facilitates the machine design process, letting you quickly design and validate new machine concepts without purchasing or installing physical equipment.

The performance capabilities of any replacement drive should be reviewed to be sure that the replacement drive is capable of delivering the required level of peak and continuous current to the motor and the Motion Analyzer software can assist in the correct drive selection.

Download is available at http://ab.rockwellautomation.com/motion-control/motion-analyzer-software.

Controller Files – Upload and save any network files and programmable logic controller (PLC) programs.

Electrical Noise Reduction – See the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001, for information on the concept of high-frequency (HF) bonding, the ground plane principle, and electrical noise reduction.

Additional Resources These documents contain additional information concerning related products from Rockwell Automation.

Resource Description

Integrated Motion on SERCOS and EtherNet/IP Systems - Analysis and Comparison, publication MOTION-WP001

Compare and contrast Integrated Motion systems using SERCOS and EtherNet/IP with a ControlLogix® Programmable Automation Controller (PAC).

Ethernet Design Considerations Reference Manual, publication ENET-RM002 Provides information for designing ethernet and EtherNet/IP networks.

Kinetix 5500 Servo Drives User Manual, publication 2198-UM001 Information on installing, configuring, startup, troubleshooting, and applications for your Kinetix servo drive system.

Kinetix 5500 Drive Systems Design Guide, publication GMC-RM009 System design guide to select the required (drive specific) drive module, power accessory, feedback connector kit, and motor cable catalog numbers for your Kinetix 5500 drive and Kinetix VP motor motion control system.

Logix 5000 Control Systems: Connect Kinetix 5500 Drives over an EtherNet/IP Network, publication IASIMP-QS035

Provides examples and procedures for integrating a Kinetix 5500 servo drive into any Logix 5000™ control system over an EtherNet/IP network.

Kinetix 5500 Servo Drives Installation Instructions, publication 2198-IN001 Information on mounting and wiring the Kinetix 5500 servo drive.

Kinetix 5500 Feedback Connector Kit Installation Instructions, publication 2198-IN002 Information on installing and wiring the Kinetix 5500 motor feedback connector kit.

Kinetix 5500 AC Line Filter Installation Instructions, publication 2198-IN003 Information on installing and wiring the Kinetix 5500 servo drive AC line filters.

Kinetix 5500 Capacitor Module Installation Instructions, publication 2198-IN004 Information on installing and wiring the Kinetix 5500 servo drive capacitor module.

Kinetix 5500 Shared-bus Connector Kit Installation Instructions, publication 2198-IN005 Information on installing the Kinetix 5500 servo drive shared-bus connector kits.

Kinetix 300 Shunt Resistor Installation Instructions, publication 2097-IN002 Information on installing and wiring Kinetix 300 shunt resistors.

System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001 Information, examples, and techniques designed to minimize system failures caused by electrical noise.EMC Noise Management DVD, publication GMC-SP004

Kinetix Motion Control Selection Guide, publication GMC-SG001 Overview of Kinetix servo drives, motors, actuators, and motion accessories designed to help make initial decisions for the motion control products best suited for your system requirements.


http://literature.rockwellautomation.com/idc/groups/literature/documents/wp/motion-wp001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/rm/enet-rm002_-en-p.pdf

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http://literature.rockwellautomation.com/idc/groups/literature/documents/sg/gmc-sg001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/qs/iasimp-qs035_-en-p.pdf


http://ab.rockwellautomation.com/motion-control/motion-analyzer-software

http://ab.rockwellautomation.com/motion-control/motion-analyzer-software


Preface

You can view or download publications at http://www.rockwellautomation.com/literature. To order paper copies of technical documentation, contact your local Allen-Bradley® distributor or Rockwell Automation sales representative.

To find your local Rockwell Automation distributor or sales representative, visit http://www.rockwellautomation.com/locations.

Kinetix Rotary Motion Specifications Technical Data, publication GMC-TD001 Product specifications for Kinetix VP (Bulletin VPL), MP-Series™ (Bulletin MPL, MPM, MPF, MPS), Kinetix 6000M (Bulletin MDF), TL-Series™, RDD-Series™, and HPK-Series™ rotary motors.

Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003 Product specifications for Kinetix Integrated Motion over the EtherNet/IP network, Integrated Motion over sercos interface, EtherNet/IP networking, and component servo drive families.

Kinetix 2000 Multi-axis Servo Drives User Manual, publication 2093-UM001 Provides information on how to install, configure, startup, and troubleshoot your Kinetix 2000 servo drive system.

Kinetix 2000 Integrated Axis Module and Axis Module Installation Instructions, publication 2093-IN001

Information on installing the individual modules that comprise a Kinetix 2000 servo drive system

Kinetix 2000 Shunt Module Installation Instructions, publication 2093-IN002

Kinetix 2000 Slot Filler Module Installation Instructions, publication 2093-IN003

Kinetix 2000 Power Rail Installation Instructions, publication 2093-IN004

Resource Description


http://www.rockwellautomation.com/locations

http://www.rockwellautomation.com/literature

http://www.rockwellautomation.com/literature






http://literature.rockwellautomation.com/idc/groups/literature/documents/in/2093-in002_-mu-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/in/2093-in003_-mu-p.pdf

Preface

Notes:


Chapter 1

Servo Drive and System Considerations

Replacing a Kinetix 2000 servo drive with a Kinetix 5500 servo drive will require some system design changes as well as drive hardware changes. This chapter describes some of the primary differences and considerations. Additional chapters will provide in-depth drive comparisons.

Engineering Effort and Product Liability

Thoroughly review this document before you begin to evaluate the design changes required to successfully migrate your Kinetix 2000 servo drive to a Kinetix 5500 servo drive.

The following sections highlight the major and minor differences between Kinetix 2000 servo drives and Kinetix 5500 servo drives. There may be more differences beyond these that can impact your application. Read this entire document before proceeding to qualify the Kinetix 5500 servo drive for your needs.

Communications The Kinetix 2000 servo drives use the SERCOS network for communications. A SERCOS interface module serves as a link between the ControlLogix/CompactLogix platform and the Kinetix 2000 servo drive system.

The communication link uses the IEC 61491 SErial Real-time COmmunication System (SERCOS) protocol over a fiber-optic media.

The Kinetix 5500 servo drives use the EtherNet/IP network for communicating to either a ControlLogix or CompactLogix programmable automation controller. All Kinetix 5500 servo drives include dual-port Ethernet/IP connectivity.

Supported Ethernet topologies include linear, ring, and star.

For more information on Ethernet design considerations, see these publications:• Scalability - The Best Approach to Change, publication IA-WP002

ATTENTION: Because of the variety of uses for the products described in this publication, those responsible for the application and use of these products must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes, and standards. In no event will Rockwell Automation be responsible or liable for indirect or consequential damage resulting from the use or application of these products.


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Chapter 1 Servo Drive and System Considerations

• EtherNet/IP Design, Commissioning, and Troubleshooting Quick Reference, publication IASIMP-QR023

• Integrated Motion on EtherNet/IP Configuration Drawing with Notes, publication IASIMP-QR019

See Appendix E for communication configurations.

Controller, Ethernet Cards, and Switches

The following table lists the compatible hardware for Integrated Motion on EtherNet/IP systems.

Motors Verify that your existing motor is compatible with the Kinetix 5500 servo drive family. Kinetix 5500 servo drives are compatible with the following motors:

• Kinetix VP series servo motor• Induction motors• MP-Series rotary motors• MP-Series linear actuators

Note: MP-Series compatibility requires a 2198-H2DCK converter kit, and also requires drive firmware revision 2.001 or later, and the Kinetix 5500 servo drive AOP (Add-On Profile) for Studio 5000 Logix Designer™ application, version 21.00.00 or later.

For more information, see Hiperface-to-DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006.

For Kinetix 5500 Hiperface-to-DSL Feedback Converter Kit pin-out, see page 35.

In most cases encompass partner motors will work with the converter kit. Check with your local Rockwell sales person or distributor to evaluate compatibility.

Hardware Description

Controllers ControlLogix® 1756 L7x and L6x modelsCompactLogix® 5370 L3y, L2y, and L1y models

Ethernet Communication 1756-EN2T, 1756-EN2TR, and 1756-EN3TR

Ethernet Switches Stratix 8300™ Layer 3 Modular Managed Ethernet SwitchesStratix 8000™ Modular Managed Ethernet SwitchesStratix 6000™ Fixed Managed Ethernet SwitchesStratix 5700™ Managed Industrial Ethernet SwitchesStratix 2000™ Unmanaged Ethernet Switches


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Servo Drive and System Considerations Chapter 1

Cable Lengths Verify that the feedback cable length in your current Kinetix 2000 servo drive system does not exceed the maximum cable lengths for the Kinetix 5500 servo drives. The follow are maximum cable lengths for the Kinetix 5500 servo drives:

• Combined motor power cable length for all axes on the same DC bus must not exceed 250 m (820 ft). Drive-to-motor cables must not exceed 50 m (164 ft), however use of continuous-flex cable limits the maximum length. See the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001, Table 5 for specifications by frame size.

• Ethernet cable lengths connecting drive-to-drive, drive-to-controller, or drive-to-switch must not exceed 100 m (328 ft). Complete a careful evaluation of your Ethernet media when using a CIP motion solution. For more information, see Guidance for Selecting Cables for EtherNet/IP Networks, publication ENET-WP007.

• Registration and digital input cables greater than 30 m (98.4 ft) must be shielded.

See Drive Interconnects and Cabling on page 32 for more information.

Physical Dimensions The physical size of the drive families are different (see Dimension Comparison on page 19). In most cases, the Kinetix 5500 servo drives are smaller and will fit into the existing space of the compatible Kinetix 2000 drives; however, you should verify the physical size of the Kinetix 5500 servo drive.

Control Power The Kinetix 2000 servo drive integrated axis module (IAM) requires AC input power (230V AC nominal, single phase) for logic circuitry.

The Kinetix 5500 servo drive requires 24V DC input power for control circuitry. You need to review your control power scheme including 24V power supply requirements. See Appendix C for more information on control power specifications.

Circuit Protection Sizing for protective devices, such as fuses and circuit breakers, may be different between Kinetix 2000 servo drives and Kinetix 5500 servo drives. Verify that you have chosen the correct sizes when selecting and installing a Kinetix 5500 servo drive. For more information, see Appendix C.



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Chapter 1 Servo Drive and System Considerations

Control Signals Digital Inputs – It is important to note that the Digital I/O function between the Kinetix 2000 servo drive and Kinetix 5500 servo drive is different.

The Kinetix 2000 servo drive includes six digital inputs. They are Enable, Home, Reg1, Reg2, OT+, and OT-. The drive supplies 24V DC @ 300 mA total for the digital I/O.

The Kinetix 5500 servo drive includes two digital inputs. They are Reg1 and Reg2. The Reg1 input is capable of dual functionality; it can also be used as the Home input. Digital inputs require a 24V DC @ 15 mA supply and should be considered in power supply sizing.

Contactor Enable Relay – The Kinetix 5500 servo drive does not have a Contactor Enable Relay.

Dual Position Loop / Aux Feedback Port – The Kinetix 5500 servo drive does not have the ability to accept an auxiliary encoder input for dual-loop operation or to be used as a Master Input for encoder feedback.

If a Master Encoder input is required, other options are available such as using a Bulletin 842E-CM Integrated Motion on EtherNet/IP™ Absolute Encoder that provides a CIP Motion-capable Master Encoder that can be used with the Kinetix 5500 servo drive or investigate using a Kinetix 6200 or 6500 drive.

Motor Brake – Both servo drive families require a customer-supplied 24V power source for motor-parking brake.

Safe Torque-off Safety Features

Kinetix 5500 servo drives have the capability to safely turn off the inverter power transistors in response to a monitored digital input, according to Category 0 Stop behavior. These drives support parallel input terminals for cascading to adjacent drives over duplex wiring.

For applications that do not require the safety function, you must install jumper wires to bypass the safe torque-off feature.

For the Safe Torque-off connector pinout, installation, and wiring information, see the related chapter in the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001.

Accessories Kinetix 2000 servo drive accessories include the 2093 shunt module, slot-filler modules, line interface module, and AC line filter.

Kinetix 5500 servo drive accessories include the Bulletin 2198 capacitor module, AC line filters, and the shared-bus connection system. Kinetix 5500 servo drives are also compatible with Bulletin 2097 external shunt resistors. See Accessories on page 40.



Chapter 2

Servo Drive and System Comparisons

There are a number of different factors that affect the selection of a replacement servo drive and the system redesign effort. They include the following:

• Drive Sizing• Dimension Comparison• AC Input Power Wiring and Fusing• Interconnects and Cabling• Typical System Layout• Accessories

This chapter provides a side-by-side comparison of both servo drive families to help in the evaluation and selection of the correct components in the migration process.


Chapter 2 Servo Drive and System Comparisons

Drive Sizing This section lists the Kinetix 2000 servo drives and the suggested Kinetix 5500 replacement servo drives, along with the output ratings and dimension differences of the drives. Information in this migration guide is based on the drive combinations shown in Table 1 and Table 2.

Output Current Comparison

Table 1 - Suggested Kinetix 5500 Replacement Drives by Output Current

IMPORTANT The performance capabilities of the replacement drive should be reviewed to be sure that the replacement drive is capable of delivering the required level of peak and continuous current to the motor.

Kinetix 2000 Servo Drives Kinetix 5500 Servo Drives

Model Voltage Range (V)

Nominal Voltage Range (V)

Output Current Rating (0-pk) A(1)

Recommended Kinetix 5500 Replacement Drive

Voltage Range (V)

Nominal Voltage Range (V)

Output Current Rating (0-pk) A(1)

2093-AC05-MP1 (IAM)2093-AMP1

170...264, 1-phase170...264, 3-phase

230, 1-phase230, 3-phase

1.4 2198-H003-ERSx 195...264, 1-phase195...264, 3-phase324...528, 3-phase

240, 1-phase240, 3-phase480, 3-phase

1.4

2093-AC05-MP2 (IAM)2093-AMP2

170...264, 1-phase170...264, 3-phase




3.5

2093-AC05-MP5 (IAM)2093-AMP5

170...264, 1-phase170...264, 3-phase




7.1

2093-AM01 N/A N/A 8.5 2198-H025-ERSx 195...264, 3-phase324...528, 3-phase


11.3

2093-AM02 N/A N/A 13.4 2198-H040-ERSx 195...264, 3-phase324...528, 3-phase


18.4

N/A N/A N/A N/A 2198-H070-ERSx 195...264, 3-phase324...528, 3-phase


32.5

(1) Continuous output current ratings are used.


Servo Drive and System Comparisons Chapter 2

Dimension ComparisonThe following table provides a comparison of the dimensions of the drives.

Table 2 - Suggested Kinetix 5500 Replacement Drives by Dimensions

Kinetix 2000 Servo Drive (1) Kinetix 5500 Servo Drive Dimension Differences

Model Heightmm (in)

Widthmm (in)

Depthmm (in)

Model Heightmm (in)

Widthmm (in)

Depthmm (in)

Height (2)

mmWidth (2)

mmDepth (2)

mm

2093-AC05-MP1 (IAM) 225 (8.8) 90 (3.5) 192 (7.5)2198-H003-ERSx 215 (8.46) 50 (1.97) 226 (8.90)

-10 -40 34

2093-AMP1 225 (8.8) 40 (1.6) 192 (7.5) -10 10 34

2093-AC05-MP2 (IAM) 225 (8.8) 90 (3.5) 192 (7.5)2198-H008-ERSx 215 (8.46) 50 (1.97) 226 (8.90)

-10 -40 34

2093-AMP2 225 (8.8) 40 (1.6) 192 (7.5) -10 10 34

2093-AC05-MP5 (IAM) 225 (8.8) 90 (3.5) 192 (7.5)2198-H015-ERSx 265 (10.43) 55 (2.16) 226 (8.90)

40 -35 34

2093-AMP5 225 (8.8) 40 (1.6) 192 (7.5) 40 15 34

2093-AM01 225 (8.8) 80 (3.1) 192 (7.5) 2198-H025-ERSx 265 (10.43) 55 (2.16) 226 (8.90) 40 -25 34

2093-AM02 225 (8.8) 80 (3.1) 192 (7.5) 2198-H040-ERSx 265 (10.43) 55 (2.16) 226 (8.90) 40 -25 34

N/A — — — 2198-H070-ERSx 294 (11.57) 8.52 (3.35) 226 (8.90) N/A N/A N/A

(1) Dimensions include the motor feedback connector.(2) A minus sign denotes that the height, width, or depth of the Kinetix 5500 servo drive is shorter, narrower, or shallower than the comparable Kinetix 2000 servo drive.



Dimension Drawings This section provides dimensions of the drives to assist you in determining the space needed to install the drives.

Kinetix 2000 Servo Drive Dimensions – Integrated Axis Module

Kinetix 2000 Servo Drive Dimensions – Axis Module

167.5(6.6)

90(3.5)

225(8.8)

173(6.8)

192(7.5)

PowerRail

Dimensions are in mm (in.)

192(7.5)

80(3.1)

40(1.6)

167.5(6.6)

225(8.8)

173(6.8)

PowerRail




Kinetix 5500 Servo Drive Dimensions

E

D

CA

3.0(0.12)

B


2198-H003-ERSx servo drive is shown.


A mm (in.)

Bmm (in.)

Cmm (in.)

Dmm (in.)

Emm (in.)

2198-H003-ERSx50 (1.97) 170 (6.69)

200 (7.87) 226 (8.90)

215 (8.46)2198-H008-ERSx

2198-H015-ERSx

55 (2.16) 225 (8.86) 265 (10.43)2198-H025-ERSx

2198-H040-ERSx

2198-H070-ERSx 85.2 (3.35) 250 (9.84) 294 (11.57)



AC Input Power Wiring and Fusing

This section provides information to assist you in determining the wiring and fusing requirements of the drives.

AC Input Power Wiring

Determining AC input wiring for the Kinetix 5500 servo drives will require evaluation of which configuration is best for your system. The Kinetix 2000 servo drive accepts AC input to the Integrated Axis Module (IAM) and converts the AC power to DC and that is shared with the other connected Axis Modules (AMs). The Kinetix 5500 servo drives are designed for multiple power configurations. They can be wired independently (single axis) or in multi-axis configurations, including:

• Standalone• AC/DC Supply Sharing• DC Bus Sharing• Hybrid Configuration (consisting of shared AC/DC supply with DC bus)

Kinetix 2000 Servo Drive Input Power Example (with LIM Module)

MAIN VAC

Three-phaseInput Power

230V Control Power

2090-XXLF-TCxxx AC Line Filter

(optional component)

2094-ALxxS Line Interface Module (optional component) I/O ConnectionsTo Input Sensors

and Control String

2093-ASP06 Shunt Module (optional component)

2093-PRF Slot Filler Module (required to fill any unused slots)

2093-K2CK-COMBO Low-profile Connector Kit (optional component)

2093-AMxx Axis Modules (4)

2093-AC05-MPx Integrated Axis Module

Power Rail 2093-PRSx

InputFusing



Kinetix 2000 Servo Drive Input Power Example (without LIM Module)

Kinetix 2000 Servo Drive Input Power Example (DC Common Bus)

Three-phase Input Power

230V Control Power

2090-XXLF-TCxxx AC Line Filter

(optional component)

I/O ConnectionsTo Input Sensorsand Control String

2093-ASP06 Shunt Module (optional component)

2093-K2CK-COMBOLow-profile Connector Kit (optional component)

2093-PRF Slot Filler Module (required to fill any unused slots)

2093-AC05-MPx Integrated Axis Module


2093-AMxx Axis Modules (4)

LineDisconnect

Device

MagneticContactor

InputFusing

MAIN VAC

Three-phaseInput Power

2094-ALxxSLine Interface Module(optional component)

Axis Modules (4) 2093-AMxx

Integrated Axis Module 2093-AC05-MPx

Shunt Module (optional component) 2093-ASP06

2093-PRF Slot-filler Module (required to fill any unused slots)


Axis Modules (4) 2093-AMxx

Integrated Axis Module2093-AC05-MPx

Shunt Module (optional component) 2093-ASP06


230V Control Power

DC Common Bus

AC Line Filter 2090-XXLF-TCxxx (required for CE)

Input Fusing

2093-PRF Slot-filler Module (required to fill any unused slots)



Kinetix 5500 Servo Drive Input Power Example (Standalone)

1606-XLPo w e r S u p p l y

Input

Allen-Bradley

Single-phase or Three-phase Input Power

Bulletin 2090 Single Motor Cable

LineDisconnect

Device

InputFusing

2198-Hxxx-ERSx Drive (front view)

2097-Rx Shunt Resistor (optional component)

Bulletin VPLRotary Motors

2198-Hxxx-ERSx Drive (top view)

AC Input Power

Bonded Cabinet Ground Bus

Safety Device

2198-KITCON-DSLMotor Feedback Connector Kit

Mains AC and 24V input wired to standard input connectors.

2198-DBxx-FAC Line Filter

(required for CE)

Shared DC (DC common bus)

Shared 24V (control power input)

2198-Hxxx-ERSx Drive (top view) with 2198-CAPMOD-1300 Capacitor Module

2198-H0x0-x-x shared-bus connection system for bus-sharing configurations.

Mains AC input wired to standard input connector.

Digital Inputsto Sensors and Control String

1606-XLxxx24V DC Control, Digital Inputs,

and Motor Brake Power(customer-supplied)



Kinetix 5500 Servo Drive Input Power Example (Shared AC)


Input

Allen-Bradley

Kinetix 5500 Servo Drives (top view) (2198-H008-ERS drives shown)


LineDisconnect

Device

InputFusing



AC Input Power


Safety Device

Kinetix 5500 Servo Drives (front view) (2198-H008-ERS drives shown)

Induction Rotary Motors


(required for CE)

Bulletin 2090 Single Motor Cables

2198-KITCON-DSLMotor Feedback Connector Kits

Shared AC (mains AC input)

Shared 24V (control power input)

Shared-bus connection system for bus-sharing configurations.






Kinetix 5500 Servo Drive Input Power Example (Shared AC/DC)


Input

Allen-Bradley


LineDisconnect

Device

InputFusing



AC Input Power


Safety Device

Induction Rotary Motors


(required for CE)



Kinetix 5500 Servo Drives (top view) (2198-H015-ERS drives shown)

Kinetix 5500 Servo Drives (front view) (2198-H015-ERS drives shown)


Shared DC (DC common bus)Shared 24V (control power input)

2198-CAPMOD-1300 Capacitor Module (optional component)







Kinetix 5500 Servo Drive Input Power Example (Common-bus)


Input

Allen-Bradley

Kinetix 5500 Servo Drive System (top view)


LineDisconnect

Device

InputFusing


2198-H040-ERSxCommon-bus Leader Drive

AC Input Power


Safety Device

Kinetix 5500 Servo Drive System (front view)

2198-H008-ERSx Common-bus

Follower Drives



(required for CE)











Kinetix 5500 Servo Drive Input Power Example (Shared AC/DC Bus Hybrid)

Circuit Breaker and Fuse Considerations

Review the fusing requirements when changing drives.

A Kinetix 2000 servo drive system needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100,000 A.

The Kinetix 5500 servo drives use internal solid-state motor short-circuit protection and, when protected by suitable branch circuit protection, are rated for use on a circuit capable of delivering up to 150,000 A.


Input

Allen-Bradley

Kinetix 5500 Servo Drive System (top view)


LineDisconnect

Device

InputFusing



2198-H040-ERSxCommon-bus (converter)

Leader Drives



AC Input Power


Safety Device

Kinetix 5500 Servo Drive System (front view)

2198-H008-ERSx Common-bus (inverter)

Follower Drives



(required for CE)









While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses.

Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker.

Kinetix 2000 Servo Drive Main and Control Input Power Fuse Specifications

Use class CC, J, L, or R fuses, with current rating as indicated in the table below. The following fuse examples and Allen-Bradley circuit breakers are recommended for use with integrated axis modules (2093-AC05-MPx) when the Line Interface Module (LIM) is not used.

Table 3 - Main and Control Input Power Fuse Specifications

Kinetix 5500 Servo Drive Main Input Power Fuse and Circuit Breaker Specifications

The Kinetix 5500 servo drive fuse and circuit breaker selection are dependent on input power configurations.

Table 4 - Standalone Drive Systems Fuse Selection (Bussmann Part No.)

IMPORTANT UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 servo drive systems.


Main Input Power Control Input Power

Main Input Fuse Circuit Breaker 1492 Series (1)

Circuit Breaker 140M Series (1)

Fuse (2) Circuit Breaker 1492 Series (1)

2093-AC05-MP1170...264V AC three-phase

KTK-R-20 (20A) 1492-CB3H300

140M-F8E-C16

FNQ-R-10 (10A) or KTK-R-5 (5A)

1492-CB2H060

2093-AC05-MP2

2093-AC05-MP5

2093-AC05-MP1170...264V AC single-phase N/A2093-AC05-MP2

2093-AC05-MP5

(1) When using Bulletin 1492 or 140M circuit protection devices, the maximum short circuit current available from the source is limited to 5000 A. (2) Fuse selection for control power is appropriate for an eight-axis system with the specified IAM.

Kinetix 5500 Servo Drive Cat. No. Three-phase Single-phase

2198-H003-ERSx KTK-R-3 KTK-R-2



2198-H025-ERSx KTK-R-20

N/A2198-H040-ERSx KTK-R-25

2198-H070-ERSx LPJ-35SP



Table 5 - Standalone Drive Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)

Table 6 - Shared DC (Common-bus) Drive Systems Fuse Selection (Bussmann Part No.)

Table 7 - Shared DC (Common-bus) Drive Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)

Table 8 - Shared AC Drive Systems Fuse Selection (Bussmann Part No.)

Kinetix 5500 Servo Drive Cat. No. Three-phase (1)

(1) UL has not approved circuit breakers for use as branch circuit protection for Kinetix 5500 servo drive systems.

Single-phase (1)

2198-H003-ERSx 140U-D6D3-B20 140U-D6D2-B10

2198-H008-ERSx 140U-D6D3-B60 140U-D6D2-B20

2198-H015-ERSx 140U-D6D3-C12 140U-D6D2-B80

2198-H025-ERSx 140U-D6D3-C20

N/A2198-H040-ERSx 140U-D6D3-C25

2198-H070-ERSx N/A

Kinetix 5500 Servo Drive Cat. No. Three-phase

2198-H003-ERSxKTK-R-10

2198-H008-ERSx

2198-H015-ERSx KTK-R-15

2198-H025-ERSx KTK-R-20

2198-H040-ERSx KTK-R-25

2198-H070-ERSx LPJ-35SP

Kinetix 5500 Servo Drive Cat. No. Three-phase (1)


2198-H003-ERSxN/A

2198-H008-ERSx

2198-H015-ERSx 140U-D6D3-C15

2198-H025-ERSx 140U-D6D3-C20

2198-H040-ERSx 140U-D6D3-C25

2198-H070-ERSx N/A

Kinetix 5500 Servo Drive Cat. No. 2 Axes 3 Axes 4 Axes 5 Axes

2198-H003-ERSx KTK-R-15

2198-H008-ERSx KTK-R-15

2198-H015-ERSx KTK-R-20 KTK-R-25 N/A

2198-H025-ERSx KTK-R-30 N/A

2198-H040-ERSx LPJ-35SP LPJ-45SP N/A

2198-H070-ERSx LPJ-60SP N/A



Table 9 - Shared AC Drive Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)

Table 10 - Shared AC/DC and Hybrid Systems Fuse Selection (Bussmann Part No.)

Table 11 - Shared AC/DC and Hybrid Systems Circuit Breaker Selection (Allen-Bradley Cat. No.)

Kinetix 5500 Servo Drive Cat. No. 2 Axes (1)


3 Axes (1) 4 Axes (1) 5 Axes (1)

2198-H003-ERSxN/A

2198-H008-ERSx

2198-H015-ERSx 140U-D6D3-C15 140U-D6D3-C20 N/A


2198-H040-ERSx N/A

2198-H070-ERSxxx N/A

Kinetix 5500 Servo Drive Cat. No. 2 Axes 3 Axes 4 Axes 5 Axes 6 Axes 7 Axes 8 Axes





2198-H040-ERSx KTK-R-30 LPJ-45SP LPJ-50SP N/A

2198-H070-ERSx LPJ-50SP N/A

Kinetix 5500 Servo Drive Cat. No. 2 Axes (1) 3 Axes (1) 4 Axes (1) 5 Axes (1) 6 Axes (1) 7 Axes (1) 8 Axes (1)

2198-H003-ERSx N/A

2198-H008-ERSx N/A



2198-H040-ERSx 140U-D6D3-C30 N/A

2198-H070-ERSx N/A




Drive Interconnects and Cabling

This section provides information to assist you in determining the interconnects and cabling requirements of the drives.

Motor Power and Feedback

The Kinetix 5500 servo drive incorporates a single cable design, which includes both motor power and motor feedback when using a compatible VP-Series motor. The Kinetix 5500 servo drive can also be matched with MP-Series motors and the 2090-xxxx motor power cables can connect directly to the Kinetix 5500 servo drive.

For motor feedback the Kinetix 5500 servo drive can be matched with MP-Series motors, but requires the Hiperface-to-DSL Feedback Converter Kit (catalog no. 2198-H2DCK). For more information, see Hiperface-to-DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006.

Kinetix 2000 Servo Drives with MP-Series Low Inertia Motors

This section provides system combination information for the Kinetix 2000 (200V class) servo drives when matched with MP-Series™ (200V class) low-inertia motors.

Table 12 - Bulletin MPL Motor Cable Combinations

IMPORTANT If you are planning on using an existing MP-Series motor, verify that the existing motor power cable is capable of handling the current delivered to the motor.

Motor Cat. No. Motor Power/Brake Cable

MPL-A1510V-xx7xAA, MPL-A1520U-xx7xAA, MPL-A1530U-xx7xAA

2090-CPxM7DF-16AAxx (standard, non-flex) 2090-CPxM7DF-16AFxx (continuous-flex)

MPL-A210V-xx7xAA, MPL-A220T-xx7xAA, MPL-A230P-xx7xAA

MPL-A310F-xx7xAA, MPL-A310P-xx7xAA, MPL-A320H-xx7xAA, MPL-A320P-xx7xAA, MPL-A330P-xx7xAA

MPL-A420P-xx7xAA, MPL-A430H-xx7xAA

MPL-A4530F-xx7xAA, MPL-A4540C-xx7xAA




2090-Series Single Motor Cable Overview

Table 13 - Single Motor Cable Descriptions

Kinetix 5500 (200V-class operation) Servo Drives with Kinetix VP Low Inertia Motors

This section provides system combination information for the Kinetix 5500 servo drives (with 240V, nominal input) when matched with Kinetix VP (200V-class) low-inertia motors.

Table 14 - Bulletin VPL Motor Cable Combinations

Single Cable Cat. No. (1) DescriptionCable Configuration

Motor ConnectorMotor End Drive End

2090-CSBM1DF-xxAAxx 2090-CSBM1DF-xxAFxx

• Drive-end flying-leads (DF)• Power/feedback/brake wires (SB)• Standard, non-flex (AA)• Continuous-flex (AF) SpeedTec DIN

2090-CSWM1DF-xxAAxx • Drive-end flying-leads (DF)• Power/feedback wires only (SW)

(1) See the Kinetix Motion Accessories Technical Data, publication GMC-TD004, for cable specifications.

IMPORTANT Combined motor power cable length for all axes on the same DC bus must not exceed 250 m (820 ft). Drive-to-motor cables must not exceed 50 m (164 ft), however use of continuous-flex cable limits the maximum length. See the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001, Table 5 on page 24 for specifications by frame size.

Motor Cat. No. (200V-class) Feedback Type Single Cable Cat. No. (1)

VPL-A063xx

Multi-turn or Single-turn Digital Encoder Feedback

2090-CSBM1DF-18AAxx or 2090-CSWM1DF-18AAxx (standard, non-flex) 2090-CSBM1DF-18AFxx (continuous-flex)VPL-A0751E, VPL-A0752C, VPL-A0753C

VPL-A0752E, VPL-A0753E2090-CSBM1DF-14AAxx or 2090-CSWM1DF-14AAxx (standard, non-flex) 2090-CSBM1DF-14AFxx (continuous-flex)

VPL-A1001C2090-CSBM1DF-18AAxx or 2090-CSWM1DF-18AAxx (standard, non-flex) 2090-CSBM1DF-18AFxx (continuous-flex)

VPL-A1001M, VPL-A1002x, VPL-A1003x2090-CSBM1DF-14AAxx or 2090-CSWM1DF-14AAxx (standard, non-flex) 2090-CSBM1DF-14AFxx (continuous-flex)

VPL-A1152x, VPL-A1153x

VPL-A1303x, VPL-A1304x, VPL-A1306x

(1) Cable length xx is in meters, 01 (3.3)…50 (164) in 1.0 m (3.3 ft) increments. See the Kinetix Motion Accessories Technical Data, publication GMC-TD004, for cable specifications.






Kinetix 5500 (400V-class operation) Servo Drives with Kinetix VP Low Inertia Motors

This section provides system combination information for the Kinetix 5500 servo drives (with 480V, nominal input) when matched with Kinetix VP (400V-class) low-inertia motors.

Table 15 - Bulletin VPL Motor Cable Combinations

IMPORTANT Combined motor power cable length for all axes on the same DC bus must not exceed 250 m (820 ft). Drive-to-motor cables must not exceed 50 m (164 ft), however use of continuous-flex cable limits the maximum length. See the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001, Table 5 on page 24 for specifications by frame size.

Motor Cat. No. (400V-class) Feedback Type Single Cable Cat. No. (1)

VPL-B063xx

Multi-turn or Single-turn Digital Encoder Feedback

2090-CSBM1DF-18AAxx or 2090-CSWM1DF-18AAxx (standard, non-flex) 2090-CSBM1DF-18AFxx (continuous-flex)

VPL-B0751M, VPL-B0752E, VPL-B0752F, VPL-B0753E, VPL-B0753F

VPL-B1001M, VPL-B1002E, VPL-B1003C

VPL-B0752M, VPL-B0753M 2090-CSBM1DF-14AAxx or 2090-CSWM1DF-14AAxx (standard, non-flex) 2090-CSBM1DF-14AFxx (continuous-flex)VPL-B1002M, VPL-B1003F, VPL-B1003T

VPL-B1152C2090-CSBM1DF-18AAxx or 2090-CSWM1DF-18AAxx (standard, non-flex) 2090-CSBM1DF-18AFxx (continuous-flex)

VPL-B1152F, VPL-B1152T, VPL-B1153E, VPL-B1153F

2090-CSBM1DF-14AAxx or 2090-CSWM1DF-14AAxx (standard, non-flex) 2090-CSBM1DF-14AFxx (continuous-flex)

VPL-B1303x, VPL-B1304x, VPL-B1306x

VPL-B1651C, VPL-B1651F, VPL-B1652C, VPL-B1653C, VPL-B1654B

(1) Cable length xx is in meters, 01 (3.3)…50 (164) in 1.0 m (3.3 ft) increments. See the Kinetix Motion Accessories Technical Data, publication GMC-TD004, for cable specifications.





Kinetix 5500 Servo Drive Hiperface-to-DSL Feedback Converter Kit

This kit is designed for use with Allen-Bradley® 2090-Series motor feedback cables and provides wire terminations for Hiperface encoder signals to the motor feedback (MF) connector on Kinetix 5500 servo drives with firmware revision 2.001 or later. If needed, the Add-On Profile (AOP) for Kinetix 5500 servo drives is available for download at the Custom Downloads Add-On Profiles website:

https://download.rockwellautomation.com/esd/download.aspx?downloadid=addonprofiles

For more information, see Hiperface-to-DSL Feedback Converter Kit Installation Instructions, publication 2198-IN006.

Connector Data

For more information on installing this kit, preparing the cables, and attaching the cable clamps, see the Kinetix 5500 Servo Drive User Manual, publication 2198-UM001.

1411

107

65

43

21

Converter Kit Pinout

Terminal Signal Wire Color

1 SIN+ Black

2 SIN– White/Black

3 COS+ Red

4 COS– White/Red

5 DATA+ Green

6 ECOM (1)

(1) The ECOM and TS- connections are tied together and connect to the cable shield.

White/Gray

7 EPWR_9V (2)

(2) The converter kit generates 5V and 9V from a 12V supply coming from the drive. The 5V supply is used by 5V encoders in 230V motors. The 9V supply is used by 9V encoders in 460V motors.

Orange

10 DATA– White/Green

11 TS+ White/Orange

14 EPWR_5V (2) Gray


https://uregp.rockwellautomation.com/UnifiedRegUI/displayLogin.do?myFromPage=https%3a%2f%2fdownload.rockwellautomation.com%2fesd%2fdownload.aspx%3fdownloadid%3daddonprofiles

https://uregp.rockwellautomation.com/UnifiedRegUI/displayLogin.do?myFromPage=https%3a%2f%2fdownload.rockwellautomation.com%2fesd%2fdownload.aspx%3fdownloadid%3daddonprofiles




Digital Inputs This section describes digital inputs for Kinetix 2000 and Kinetix 5500 servo drives.

Kinetix 2000 Servo Drive Digital Inputs

Two fast registration inputs and four other inputs are available for the machine interface on the integrated axis module (IAM) and axis module (AM). Each IAM and AM supplies 24V DC @ 300 mA total for the purpose of registration, home, enable, over-travel positive, and over-travel negative inputs. These are sinking inputs that require a sourcing device. A 24V power and common connection is provided for each input.

Digital Input Signal Specifications

Digital Input Specifications

IMPORTANT To improve registration input EMC performance, see the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.

IMPORTANT Overtravel limit input devices must be normally closed.

IOD/AF Pin Signal Description System Reaction Time (1) Edge/Level Sensitive

IOD/AF-43 ENABLE Optically isolated, single-ended active high signal. Current loading is nominally 10 mA. A 24V DC input is applied to this terminal to activate each axis.

10...21 ms Level

IOD/AF-40 HOME Optically isolated, single-ended active high signal. Current loading is nominally 10 mA. Home switch (normally open contact) inputs for each axis require 24V DC (nominal).

10...21 ms Level

IOD/AF-26 IOD/AF-23

REG1 REG2

Fast registration inputs are required to inform the motor interface to capture the positional information with less than 3 μs uncertainty. Optically isolated, single-ended active high signal. Current loading is nominally 10 mA. A 24V DC input is applied to this terminal to activate each axis.

3 μs Edge

IOD/AF-37 IOD/AF-29

OT+ OT-

Overtravel detection is available as an optically isolated, single-ended active high signal. Current loading is nominally 10 mA per input. The pos/neg limit switch (normally closed contact) inputs for each axis require 24V DC (nominal).

10...21 ms Level

(1) System reaction time is a function of the input signal, SERCOS ring time, and application code scan time.

Parameter Description Min Max

On-state voltage Voltage applied to the input, with respect to IOCOM, to guarantee an on-state.

ENABLE, HOME, and OT+/OT- 10.8V 26.4V

REG1 and REG2 21.6V 26.4V

On-state current Current flow to guarantee an on-state. 3.0 mA 10.0 mA

Off-state voltage Voltage applied to the input, with respect to IOCOM, to guarantee an off-state. -1.0V 3.0V



Kinetix 5500 Servo Drive Digital Inputs

Two digital inputs are available for the machine interface on the IOD connector. Digital inputs require a 24V DC @ 15 mA supply. These are sinking inputs that require a sourcing device. A common and cable shield connection is provided on the IOD connector for digital inputs.

The Registration 1 input is capable of dual functionality. You can also use this as the Home input. Configuration for dual functionality is not needed.

Understanding Digital Input Functions

Digital Input Specifications

Figure 1 - Kinetix 5500 Servo Drive Digital Input Circuitry

IMPORTANT To improve registration input EMC performance, see the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.

Function Description Default Behavior

Home/Reg1 An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine axis.

The function is always inactive. You can enable in the Logix Designer application.

Registration 1 An inactive-to-active transition (also known as a positive transition) or active-to-inactive transition (also known as a negative transition) is used to latch position values for use in registration moves.Registration 2

Attribute Value

Type Active high, single-ended, current sinking (EN 61131-2 Type 1)

Dedicated functions Registration 1, Home, Registration 2

Input current (with 24V applied) 12 mA, typical

On-state input voltage 15…30V @ 15 mA, max

Off-state input voltage -1.0…5.0V

Pulse reject filtering (registration functions) 12.0 μs

Pulse reject filtering (home input function) debounce filter 20 ms, nom

Propagation delay (registration functions) 0 (delay compensated)

Registration repeatability 700 ns

Windowed registration invalid-to-valid event delay 125 μs, min

INPUT

24VCOM

24VPWRIOD-1 or IOD-3

IOD-2




Typical System Layout This section provides system examples for Kinetix 2000 and Kinetix 5500 servo drives.

Kinetix 2000 Servo System Example

This system example illustrates how the required drive modules and accessories are used in a typical system.

0.2 m(7.1 in.) 0.1 m (5.1 in.)

or

SERCOS Fiber-optic Drive-to-Drive Cables

2093-AMxx (single-wide) AM Modules

2093-AC05-MPxIAM Module

2093-PRSxPower Rail

2093-PRSx Power Rail

2094-K2CK-xxxx Low-profile Connector Kits for Motor Feedback and I/O

Bulletin 2090 Motor Feedback Cables

Bulletin 2090 Motor Power Cables

2093-AMxx (double-wide)

AM Module

2090-SCxxx-x SERCOS Fiber-optic Cables

Logix SERCOS interface Module

Logix Controller Platform (ControlLogix® controller is shown)

RSLogix™ 5000 Software

Logix Controller Programming Network



Kinetix 5500 Servo Drive System Example

This example control system uses a Kinetix 5500 standalone servo drive.

See Appendix E for additional communication configurations.


Input

Allen-Bradley

1 (Front)2 (Rear)

00:00:BC:2E:69:F6

Single-phase or Three-phase Input Power


LineDisconnect

Device

InputFusing

2198-Hxxx-ERSx Kinetix 5500 Drive (front view)


Bulletin VPL Rotary Motors

2198-Hxxx-ERSx Kinetix 5500 Drive (top view)

AC Input Power


Safety Device

2198-KITCON-DSLMotor Feedback Connector Kit

Mains AC and 24V input wired to standard input connectors


(required for CE)

Digital Inputs



1585J-M8CBJM-x Ethernet (shielded) Cable

1734-AENTR POINT I/O™ EtherNet/IP Adapter

PanelView™ Plus Display Terminal

1783-BMS Stratix 5700™

Switch

Logix5000 Controller (CompactLogix 5370 controller is shown)

Logix Designer Application



Accessories This section describes required and optional accessories for Kinetix 2000 and Kinetix 5500 servo drives.

Kinetix 2000 Servo Drive Accessories

Table 16 - Required Drive Accessories

See the Kinetix Motion Accessories Technical Data, publication GMC-TD004, for detailed descriptions and specifications of these servo drive accessories.

Table 17 - Optional Drive Accessories

Drive Accessory Description Cat. No.

2093 power rail Backplane and mounting fixture for Bulletin 2093 drive modules: available for 1, 2, 3, 4, 5, 7, and 8-axis systems

2093-PRSx

Low-profile connector kits (required for flying-lead cables)

Motor feedback connections (15-pin male, D-sub) 2090-K2CK-D15M

Motor feedback (15-pin male, D-sub) and I/O (44-pin male, D-sub) 2090-K2CK-COMBO

Backup battery (required to maintain absolute position reference)

Installs in the Bulletin 2090 low-profile connector kits listed above and applies to drive systems that include TLY-Axxxx-B rotary motors and TLAR-Axxxxx electric cylinders

2090-DA-BAT2

SERCOS fiber-optic cables (required as needed)

Plastic, in-cabinet duty 2090-SCEPx-x

Plastic, on-machine duty 2090-SCNPx-x

Plastic, outdoor, and conduit duty 2090-SCVPx-x

Glass, outdoor, and conduit duty 2090-SCVGx-x

Motor power and feedback cables See the specific drive/motor combination for the motor cables required for your system


2094 shunt module 50 W continuous shunt power (mounts on power rail) 2093-ASP06

2094 slot-filler module Fills unused slots on the 2094 power rail 2093-PRF

Bulletin 2094 line interface module (LIM)

Replaces many of the common input power devices for your drive system 2094-ALxxS

2094-AL09

2094-XL75S-C2

2090 AC line filters 250V AC, 50/60 Hz, single-phase, EMC 2090-XXLF-TC116

520V AC, 50/60 Hz, three-phase, EMC 2090-XXLF-TC316

Bulletin 2090 cable clamp bracket kit Provides stress relief for motor power cable and electrical path from cable shield to machine ground 2090-K2KSCLAMP-4

External auxiliary encoders Allen-Bradley sine/cosine and incremental external encoders Bulletin 842A, 844D, 845H, and 845T




Kinetix 5500 Servo Drive Accessories

Table 18 - Required Drive Accessories

Table 19 - Optional Drive Accessories

See the Kinetix Servo Drives Specifications Technical Data, publication GMC-TD003, for detailed descriptions and specifications of these drive accessories.


24V power supply 24V DC for control power and motor brakes 1606-XLxxx

Ethernet network cables Double-ended, non-flex, shielded 1585J-M8CBJM-x

Double-ended, high-flex, shielded 1585J-M8UBJM-x

Motor cables Refer to the specific drive/motor combination for the motor cable required for your system 2090-CSxM1DF-xxAxxx

TIP The Kinetix 5500 feedback connector kit is included with the drive. Replacement kits are also available.


Input

Allen-Bradley


2198-Hxxx-ERSx Kinetix 5500 Servo Drive


1606-XLxxx24V DC Control Power Supply

for Control, Digital Inputs, and Motor Brakes

AC Input Power

Single-phase or Three-phaseAC Input Power


Capacitor module Capacitor bank for energy storage and/or to improve performance in applications that produce regenerative energy and require shorter duty cycles (1360 μf).

2198-CAPMOD-1300

AC line filters AC line conditioning for EMC. 2198-DBxx-F

Bulletin 2097 shunt resistor Panel-mount shunt resistor. 2097-Rx

Shared-bus connection system Input wiring connectors and DC bus T connectors for use between frame 1, 2, and 3 servo drives (frame 3:2, frame 2:1, frame 1:1, and frame 2:2).

2198-H040-x-x

Input wiring connectors and DC bus T connectors for use between frame 3 servo drives (frame 3:3). 2198-H070-x-x

Single-phase or Three-phaseAC Input Power

2097-Rx Shunt Resistor

Bulletin 2198 AC Line Filter(required for CE)

2198-CAPMOD-1300 Capacitor Module2198-Hxxx-ERSx

Kinetix 5500 Servo Drive

Bulletin 2198 shared-bus connection system for bus-sharing configurations.





Notes:


Appendix A

Connectors and Field Connections

Connector Locations Use these illustrations to identify the connectors and indicators for the Kinetix 2000 and Kinetix 5500 servo drives.

Kinetix 2000 Servo Drive Connector Data

Figure 2 - 2093-AC05-MPx IAM Features and Indicators

1 2

1 2

3 4

1 2 3 4 5 61 2

1 2

3 4

5

67 8

9

111213

3

2

1

17

16

15

14

10

4

Integrated Axis Module (2093-AC05-MPx front view)

Item Description

1 DC Bus / AC input power (IPD) connector

2 Control power (CPD) connector

3 Contactor enable (CED) connector

4 SERCOS communication rate and optical power switches

5 SERCOS node address switch

6 DPI connector (facing up)

7 Mounting screw

8 SERCOS receive (Rx) connector

9 SERCOS transmit (Tx) connector

10 Seven-segment fault status indicator

11 Drive status indicator

12 COMM status indicator

13 Bus status indicator

14 I/O and auxiliary feedback (IOD/AF) connector

15 Motor feedback (MF) connector

16 Motor power (MP) connector

17 Motor brake (BC) connector


Appendix A Connectors and Field Connections

Figure 3 - 2093-AMxx AM Features and Indicators

1 2

3 4

1 2

3 4

44 5

5 66

89

102

1

2

1

12

11

12

11

77 3

89

10

3

2093-AMPx Axis Module(front view)

2093-AMx Axis Module(front view)

Item Description

1 Motor power (MP) connector

2 Motor brake (BC) connector

3 SERCOS communication rate and optical power switches

4 SERCOS receive (Rx) connector

5 Mounting screw

6 SERCOS transmit (Tx) connector

7 Seven-segment fault status indicator

8 Drive status indicator

9 COMM status indicator

10 Bus status indicator

11 I/O and auxiliary feedback (IOD/AF) connector

12 Motor feedback (MF) connector


Connectors and Field Connections Appendix A

Kinetix 5500 Servo Drive Connector Data

Figure 4 - Drive Features and Indicators

1

7

2

3

12

16

4

5

10

9

8

11

20

19

18

17

15

6 6

U

V

W

21

12

L3

L2

L1

1

2

+

–

14

13

Kinetix 5500 Servo Drive,Front View

(2198-H003-ERS is shown)Kinetix 5500 Servo Drive, Top View (2198-H003-ERS is shown)

Item Description Item Description

1 Motor cable clamp 11 Link speed status indicators

2 Motor feedback (MF) connector 12 Link/Activity status indicators

3 Digital inputs (IOD) connector 13 Motor power (MP) connector

4 Ethernet (PORT1) RJ45 connector 14 Motor brake (BC) connector

5 Ethernet (PORT2) RJ45 connector 15 Ground terminal

6 Zero-stack mounting tab/cutout 16 Safe torque-off (STO) connector

7 Module status indicator 17 Shunt resistor (RC) connector

8 Network status indicator 18 AC mains input power (IPD) connector

9 LCD display 19 DC bus (DC) connector (under cover) (1)

(1) The DC bus connector ships with a protective knock-out cover that can be removed for use in shared-bus configurations.

10 Navigation pushbuttons 20 24V control input power (CP) connector



Input Power Connector Pinouts

The table below compares the input power, control power, contactor enable, and shunt resistor connector pinouts for the Kinetix 2000 IAM and Kinetix 5500 servo drives:

• Kinetix 2000 IAM servo drive IPD, CPD and CED connectors• Kinetix 5500 servo drive IPD, DC, CP and RC connectors

DescriptionKinetix 2000 Servo Drives (1)

(1) These connections have removable wiring plugs. The pins are numbered consecutively from top to bottom, and keyed to prevent incorrect insertion.

Kinetix 5500 Servo Drives

Connector Signal Terminal Connector Signal Terminal


IPD

L1 1

IPD

L1 L1

L2 2 L2 L2

L3 3 L3 L3

Chassis Ground Ground 4 Ground Ground

DC Bus ConnectionsDC+ 5

DCDC- 1

DC- 6 DC+ 2

Control Power CPDCTRL 1 1

CP24V 24V+

CTRL 2 2 24V Com 24 -

Contactor Enable (2)

(2) Relay-driven dry contact used in the safety string for a three-phase power contactor.

CEDCONT EN+ 1

CONT EN- 2

Shunt Resistor RC

DC+ (3)

(3) Shunt connections (Frames 2 and 3).

1

SH (3) 2

SH (4)

(4) Shunt connections (Frame 1).

1

DC+ (4) 2



Motor Power and Brake Pinouts

The table below compares the motor power and brake connector pinouts for the Kinetix 2000 IAM/AM and Kinetix 5500 servo drives:

• Kinetix 2000 IAM/AM servo drive MP and BC connectors• Kinetix 5500 servo drive MP and BC connectors

DescriptionKinetix 2000 IAM / AM Servo Drives (1)

(1) These connections have removable wiring plugs. The pins are numbered consecutively from top to bottom, and keyed to prevent incorrect insertion.


Connector Signal Terminal Connector Signal Terminal

Three-phase Motor Power (2)

(2) Kinetix 2000: Drive-to-motor power cables must not exceed 90 m (295.5 ft). To meet CE requirements, combined motor power cable length for all axes on the same DC bus must not exceed 160 m (525 ft) with 230V systems. Kinetix 5500: Drive-to-motor power cables must not exceed 50 m (164 ft). System performance was tested at this cable length. These limitations also apply when meeting CE requirements.

MP

U 1

MP

U U

V 2 V V

W 3 W W

Chassis Ground Ground 4 Ground Ground

24V Brake Input Power

BC

PWR 1

BRMotor Brake ConnectionsMBRK+ 2 MBRK+ 1

MBRK- 3 MBRK- 2

24V Common COM 4



Encoder Connector Pinouts The table below compares the feedback connector pinouts for the Kinetix 2000 IAM/AM and Kinetix 5500 servo drives:

• Kinetix 2000 IAM/AM servo drive MF connector• Kinetix 5500 servo drive MF connector

Kinetix 2000 Servo Drives (1) Kinetix 5500 Servo Drives (2)

MF Pin Description Signal Signal Description MF Pin

1 Channel A+ / sine differential input+ AM+ — — —

2 Channel A- / sine differential input- AM- — — —

3 Channel B+ / cosine differential input+ BM+ — — —

4 Channel B- / cosine differential input- BM- — — —

5 DATA+ / Channel I+ / Index pulse+ DATA+ /IM+ — — —

6 Common ECOM — — —

7 N/C / Encoder power (+9V) EPWR +9V — — —

8 Commutation channel S3 S3 — — —

9 Positive overtravel limit E_OT+ — — —

10 DATA- / Channel I- / Index pulse- DATA- / IM- — — —

11 Thermostat TS — — —



14 Encoder power (+5V) EPWR_5V — — —

15 Negative overtravel limit E_OT- — — —

— — — D+Bidirectional data and power for digital encoder interface (3)

1

— — — D- 2

— — — SHIELD SHIELD

(1) Connections vary based on supported encoder used.(2) Connections shown for VPL motor encoder.(3) Kinetix 5500 servo drive-to-motor power cables must not exceed 50 m (164 ft). System performance was tested at this cable length. These limitations also apply when meeting CE

requirements.



I/O Connector Pinouts The table below compares the I/O connector pinouts for the Kinetix 2000 IAM/AM and Kinetix 5500 servo drives:

• Kinetix 2000 IAM/AM IOD/AF connector• Kinetix 5500 servo drive IOD connector

Kinetix 2000 Servo Drives Kinetix 5500 Servo Drives

IOD/AF Pin Description Signal Signal Description IOD Pin

1…15 Reserved —

16 Data/index positive differential input/output DATA+ / I+

17 Data/index negative differential input/output DATA- / I-

18 Encoder 5V power supply EPWR_5V

19 Encoder common ECOM

20 Encoder 9V power supply EPWR_9V

21 Reserved —IN2 High speed registration input. A low/high or high/low

transition triggers a registration event. 322 Registration input 2 common 24VCOM_REG2

23 Registration input 2 REG2

24 Registration input 2 24V 24V_REG2IN1 (1)

High speed registration /home position input. A low/high or high/low transition triggers a registration event. This is a dual-function input.

125 Registration input 1 common 24VCOM_REG1

26 Registration input 1 REG1

27 Registration input 1 24V 24V_REG1

28 24V common 24VCOM

29 Overtravel input negative OT-

30 24V power output 24VPWR

31 Sine / A positive differential input SINE+/A+

32 Sine / A negative differential input SINE-/A-

33 Cosine / A positive differential input COSINE+/B+

34 Cosine / A negative differential input COSINE-/B-

35 Reserved —


37 Overtravel input positive OT+

38 24V power output 24VPWR COM I/O common for customer-supplied 24V supply. 2

39 24V common 24VCOMIN1

High speed registration /home position input. A low/high or high/low transition triggers a registration event. This is a dual-function input.

1

40 Home input HOME

41 24V power output 24VPWR


43 Enable ENABLE

44 24V power 24VPWR

(1) This signal has dual-functionality. You can use IN1 (IOD-1) as registration or Home input.



Notes:


Appendix B

About the Servo Drive System

About the Kinetix 2000 Servo Drive System

The Kinetix 2000 multi-axis servo drive is designed to provide a Kinetix Integrated Motion solution for applications with output power requirements between 3…45 kW (4…49 A).

Table 20 - Kinetix 2000 Servo Drive System Overview

Kinetix 2000 Servo Drive Component

Cat. No. Description

Integrated Axis Module 2093-AC05-MPx Integrated Axis Module (IAM) mounts on a Kinetix 2000 power rail, and is a 230V AC power converter and inverter. It is installed on a Kinetix 2000 power rail.

Axis Module 2093-AMxx Axis Module (AM), is a shared 230V DC bus power inverter, that mounts on a Kinetix 2000 power rail. The AM must be used with an IAM.

2093-AMPx

Shunt Module 2093-ASP06 Shunt Module (SM), This module mounts on the Kinetix 2000 power rail and provides additional shunting capability in regenerative applications.

Power Rail 2093-PRSxx Power Rail (PR) consists of copper bus bars and a circuit board with connectors for each module. The power rail provides power and control signals from the converter section to adjacent inverters. The IAM, AM, SM, and SF modules mount to the power rail.

Power Rail Slot Filler 2093-PRF Slot Filler (SF) is used when one or more slots on the Kinetix 2000 power rail are empty after all other power rail components are installed. One slot filler is required for each empty slot.

Logix Controller Platform

1756-L60M03SE, 1756-MxxSE, and 1768-M04SE modules, and the 1784-PM16SE PCI card

SERCOS interface module/PCI card serves as a link between the ControlLogix/CompactLogix/SoftLogix platform and Kinetix 2000 drive system. The communication link uses the IEC 61491 SErial Real-time COmmunication System (SERCOS) protocol over a fiber-optic cable.

RSLogix 5000 Software 9324-RLD300ENE RSLogix 5000 software provides support for programming, commissioning, and maintaining the Logix family of controllers.

Servo Motors MP-Series, TL-Series, and Y-Series

Compatible servo motors include the MP-Series (Low Inertia, Food Grade, and Stainless Steel) 230V motors; TL-Series motors; and Y-Series motors.

Integrated Linear Actuators

MP-Series Compatible linear actuators include the MPAI-Axxx (Integrated Actuator) 230V actuators.

Cables Motor Power, Feedback, and Brake cables

Motor power, feedback, and brake cables include integral molded, bayonet style, quick connect/quick-release connectors at the motor. Power and brake cables have flying leads on the drive end and straight connectors that connect to servo motors. Standard feedback cables have angled connectors (45º) on the drive end and straight connectors that connect to servo motors. Optional feedback cables have a straight connector on the motor end and flying leads that wire to a low-profile connector kit on the drive end.

Fiber-optic cables SERCOS fiber-optic cables are available in enclosure only, PVC, nylon, and glass with connectors at both ends.

Line Filters, AC 2090-XXLF-xxxx Bulletin 2090-XXLF-xxxx single-phase and three-phase AC line filters are required to meet CE and available for use in 230V systems.

Line Interface Module 2094-AL09, 2094-AL15S, 2094-AL25S, 2094-AL50S, 2094-AL75S, 2094-AL75S-C2

Line Interface Module (LIM), contains the circuit breakers, AC line filter, power supplies, and contactor required for Kinetix 2000 servo drive operation. This module does not mount to the power rail. Alternatively, individual components may be purchased in place of a LIM.


Appendix B About the Servo Drive System

About the Kinetix 5500 Servo Drive System

The Kinetix 5500 servo drives are designed to provide a Kinetix Integrated Motion solution for your drive/motor application.

Table 21 - Kinetix 5500 Servo Drive System Overview

Drive System Component

Cat. No. Description


2198-Hxxx-ERSx 200V-class (single-phase or three-phase) and 400V-class (three-phase) drives operate in standalone and multi-axis shared AC, shared DC, shared AC/DC, and shared AC/DC hybrid configurations. Modules are zero-stacked from drive-to-drive and use the shared-bus connection system to extend power in multi-axis configurations.

Kinetix 5500 Capacitor Module

2198-CAPMOD-1300 Used for energy storage and/or to improve performance in applications producing regenerative energy and requiring shorter duty cycles (1360 μf). Modules are zero-stacked side-by-side with servo drives and use the shared-bus connection system to extend power.

Shared-bus Connector Kits

2198-H040-x-x Input wiring connectors and DC bus T-connector for frame 1 and 2 servo drives.

2198-H070-x-x Input wiring connectors and DC bus T-connector for frame 3 servo drives.

Feedback Connector Kit

2198-KITCON-DSL Replacement feedback connector kit with 2-pin connector plug and grounding plate inside the connector housing.

I/O Connector Kits 2198-KITCON-IOSP Replacement I/O connector kit (spring clamp) for I/O (IOD) connector.

2198-KITCON-IOSC Replacement I/O connector kit (screw terminal) for I/O (IOD) connector.

Connector Sets 2198-KITCON-PWR40 Replacement connector set, 40 A, for frame 1 and frame 2 drives.

2198-KITCON-PWR70 Replacement connector set, 70 A, for frame 3 drives.

2198-KITCON-CAP1300 Replacement connector set, 40 A, for capacitor module.

Logix5000 Controller Platform

1769-L18ERM 1769-L27ERM 1769-L30ERM 1769-L33ERM 1769-L36ERM

CompactLogix 5370 controllers with Integrated Motion on the EtherNet/IP network. Linear, ring, and star topology is supported.

1756-EN2T module 1756-EN2TR module 1756-EN3TR module

ControlLogix 1756-L7x controllers with Integrated Motion on EtherNet/IP networks. Linear, device-level ring (DLR), and star topology is supported.

Studio 5000 N/A Studio 5000 Logix Designer application, version 21.00 or later, provides support for programming, commissioning, and maintaining the CompactLogix and ControlLogix controller families.

Compatible Motors VPL-Axxxx VPL-Bxxxx

Compatible rotary motors include 200V and 400V-class Kinetix VP (Bulletin VPL) servo motors.

N/A Induction motors with open loop volts/hertz frequency control are also supported.

Cables 2090-CSxM1DF-xxAAxx Bulletin 2090 single-cable for motor power, feedback, and 24V DC brake power.

1585J-M8CBJM-x Ethernet cables are available in standard lengths. Shielded cable is recommended.

AC Line Filters 2198-DB08-F 2198-DB20-F 2198-DB42-F

Bulletin 2198 three-phase AC line filters are required to meet CE and available for use in all Kinetix 5500 servo drive systems.

24V DC Power Supply 1606-XLxxx Bulletin 1606 24V DC power supply for control circuitry, digital inputs, safety, and motor brake.

External Shunt Resistors

2097-R6 and 2097-R7 Bulletin 2097 external passive shunt resistors for when the drive’s internal shunt capability is exceeded.


Appendix C

Specifications

Power Specifications Kinetix 2000 Servo Drive Converter Power Specifications

The following table lists power specifications for the converter section that resides within an integrated axis module.

Table 22 - IAM Converter (Three-phase and Single-phase) Power Specifications

Attribute 2093-AC05-MPx Three-phase Input (230V nom)

2093-AC05-MPx Single-phase Input (230V nom)

Input voltage, AC 170...264V rms

Input frequency, AC 47...63 Hz

Input current, AC main (1) Nom (rms) Max inrush (0-pk)

11.66 A 34.0 A

10.95 A 34.0 A

Input voltage, DC (common bus follower) 240...375V DC

Input current, DC (common bus follower) 9.76 A 6.42 A

Control power AC input voltage 170...264V rms single-phase (230V nom)

Control power AC input currentNom (@ 230V AC) rms Max inrush (0-pk)

1.25 A 93.0 A (2)

Bus output voltage, nom 325V DC

Line loss ride through 20 ms

Continuous output current to bus (ADC) 9.67 A 6.42 A

Intermittent output current to bus (ADC) (3) 19.34 A 12.84 A

Bus overvoltage 425V DC

Bus undervoltage 137.5V DC

Internal shuntContinuous power Peak power

15 W 3000 W

Internal shunt resistor 50 Ω

Shunt on 405V

Shunt off 375V

Continuous power output to bus 3.0 kW 2.0 kW

Peak power output 6.0 kW 4.0 kW

Efficiency 95%

Converter inductance N/A

Converter capacitance 540 μF

Converter leakage current (max) 2.0 mA

(1) All 2093-AC05 integrated axis modules are limited to two contactor cycles per minute (with up to four axis modules), or one contactor cycle per minute (with five to eight axis modules).

(2) Maximum inrush duration is less than 1/2 line cycle. (3) Intermittent output current duration equals 250 ms.


Appendix C Specifications

Kinetix 2000 Servo Drive Inverter Power Specifications

The following tables list power specifications for the inverter section that resides within an integrated axis module or an axis module.

Table 23 - IAM Inverter Power Specifications

Table 24 - AM Inverter Power Specifications

Attribute 2093-AC05-MP1 2093-AC05-MP2 2093-AC05-MP5

Bandwidth Velocity Loop (1) Current Loop

(1) Bandwidth values in the velocity loop vary based on tuning parameters and mechanical components.

500 Hz 860 Hz

PWM frequency 8 kHz

Nominal input voltage 325V DC

Continuous current (rms) 1.0 A 2.0 A 3.0 A

Continuous current (0-pk) 1.41 A 2.83 A 4.24 A

Peak current (rms) 3.0 A 6.0 A 9.0 A

Peak current (0-pk) 4.20 A 8.48 A 12.7 A

Peak output current time, max 3 s from 0% drive utilization (0% soak)

Continuous power out, nom 0.3 kW 0.6 kW 0.9 kW

Efficiency 98%

Capacitance 200 μF

Capacitive energy absorption 7.5 J

Inverter PCB leakage current 1 mA

Specification 2093-AMP1 2093-AMP2 2093-AMP5 2093-AM01 2093-AM02

Bandwidth (1)

Velocity Loop Current Loop

(1) Bandwidth values vary based on tuning parameters and mechanical components.

500 Hz 860 Hz

PWM frequency 8 kHz

Nominal input voltage 325V dc

Continuous current (rms) 1.0 A 2.0 A 3.0 A 6.0 A 9.5 A

Continuous current (0-pk) 1.41 A 2.83 A 4.24 A 8.48 A 13.4 A

Peak current (rms) 3.0 A 6.0 A 9.0 A 18.0 A 28.5 A

Peak current (0-pk) 4.20 A 8.48 A 12.7 A 25.5 A 40.3 A

Peak output current time (max) 3 seconds from 0% drive utilization (0% soak)

Continuous power out (nom) 0.3 kW 0.6 kW 0.9 kW 1.9 kW 3.0 kW

Efficiency 98%

Capacitance 200 μF 540 μF

Capacitive energy absorption 7.5 J 20 J

Inverter PCB leakage current 1 mA


Specifications Appendix C

Kinetix 5500 Servo Drive Input Power Specifications

Table 25 - Kinetix 5500 Servo Drive Input Power Specifications

Attribute 2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx 2198-H070-ERSx

AC input voltage 195…264V rms, single-phase (240V nom) 195…264V rms, three-phase (240V nom) 324…528V rms, three-phase (480V nom)

195…264V rms, three-phase (240V nom) 324…528V rms, three-phase (480V nom)

AC input frequency 47…63 Hz

Main AC input current (1)

Nom (rms) three-phase Nom (rms) single-phase

1.0 A 0.7 A

2.60 A 1.70 A

5.20 A 3.40 A

8.30 A N/A

13.4 A N/A

23.7 A N/A

Max inrush (0-pk) 15.0 A 30.0 A 60.0 A

Peak AC input currentNom (rms) three-phase Nom (rms) single-phase

3.0 A 2.1 A

7.8 A 5.1 A

15.6 A 10.2 A

24.9 A N/A

40.2 A N/A

71.1 A N/A

Line loss ride through 20 ms

Control power DC input voltage 24V DC ±10%

Control power DC input current (1) (2) (non-brake motors)

0.4 ADC 0.8 ADC 1.3 ADC

Nominal bus output voltage 276…747V DC

Continuous output current to busThree-phase Single-phase

1.0 ADC0.67 ADC

2.40 ADC1.60 ADC

4.90 ADC3.27 ADC

7.80 ADCN/A

12.7 ADCN/A

22.50 ADCN/A

Peak output current to bus (3)

Three-phase Single-phase

3.0 ADC2.0 ADC

7.2 ADC4.8 ADC

14.7 ADC9.8 ADC

23.4 ADCN/A

38.1 ADCN/A

67.5 ADCN/A

Continuous output power to bus195…264V rms, single-phase 195…264V rms, three-phase 324…528V rms, three-phase

0.2 kW 0.3 kW 0.6 kW

0.5 kW 0.8 kW 1.6 kW

1.0 kW 1.6 kW 3.2 kW

N/A 2.5 kW 5.2 kW

N/A 4.0 kW 8.4 kW

N/A 7.2 kW 14.9 kW

Peak output power to bus195…264V rms, single-phase 195…264V rms, three-phase 324…528V rms, three-phase

0.6 kW 1.0 kW 1.9 kW

1.6 kW 2.4 kW 4.9 kW

3.2 kW 4.9 kW 9.7kW

N/A 7.8 kW 15.6 kW

N/A 12.7 kW 25.3 kW

N/A 22.4 kW 44.8 kW

DC input voltage (common bus follower) 276…747V DC

DC input current (common bus follower) 1.0 ADC 2.4 ADC 4.9 ADC 7.8 ADC 12.7 ADC 22.5 ADC

Bus overvoltage 240V, nom AC input 440V DC

480V, nom AC input 810V DC

Bus undervoltage 240V, nom AC input 138V DC

480V, nom AC input 275V DC

Efficiency 97%

Capacitive energy absorption 11.54 J 19.58 J 39.15 J 58.73 J 104.87 J

Short-circuit current rating 150,000 A (rms) symmetrical

(1) All drives are limited to 1 power cycle per minute. (2) For current values when motors include a holding brake and additional information, see Control Power Specifications on page 57.(3) Peak output current duration equals 1.0 second.



Kinetix 5500 Servo Drive Output Power Specifications

Table 26 - Kinetix 5500 Servo Drive Output Power Specifications

Attribute 2198-H003-ERSx 2198-H008-ERSx 2198-H015-ERSx 2198-H025-ERSx 2198-H040-ERSx 2198-H070-ERSx

Bandwidth (1)

Velocity loop, max Current loop

300 Hz 1000 Hz

Continuous output current (rms) 1.0 A 2.5 A 5.0 A 8.0 A 13.0 A 23.0 A

Continuous output current (0-pk) 1.4 A 3.5 A 7.1 A 11.3 A 18.4 A 32.5 A

Peak output current (rms) (2) 2.5 A 6.25 A 12.5 A 20.0 A 32.5 A 57.5 A

Peak output current (0-pk) (2) 3.5 A 8.8 A 17.7 A 28.3 A 45.9A 81.3A

Continuous power out (nom)195…264V rms, single-phase 195…264V rms, three-phase 324…528V rms, three-phase

0.2 kW 0.3 kW 0.6 kW

0.5 kW 0.8 kW 1.6 kW

1.0 kW 1.5 KW 3.2 kW

N/A 2.4 kW 5.1 kW

N/A 4.0 kW 8.3 kW

N/A 7.0 kW 14.6 kW

Internal shunt resistance 100 Ω 60 Ω 40 Ω

Internal shunt power 30 W 50 W 75 W

Shunt on 775V plus 30V x bus regulator capacity/utilization (3)

Shunt off 765V plus 30V x bus regulator capacity/utilization (3)

(1) Bandwidth values vary based on tuning parameters and mechanical components.(2) Peak current duration (TPKmax) equals 1.0 second.(3) The shunt on and shunt off voltages increase during periods of shunting activity to promote sharing of shunt power in multi-axis configurations. Shunt utilization is equivalent to the

BusRegulatorCapacity tag in the Logix Designer application.



Control Power Specifications Kinetix 2000 Servo Drive Control Power Specifications

This section lists auxiliary control power requirements for a Kinetix 2000 servo drive system comprised of an IAM, up to seven AMs, a Shunt Module, or a Slot Filler.

Table 27 - Auxiliary Control Power Specifications

Kinetix 5500 Servo Drive Control Power Specifications

Table 28 - Control Power Current Specifications

Number of AMs (2093-AMPx or 2093-AMx)

Current Requirements(115V AC)

Current Requirements(230V AC)

Max Inrush Input VA

0 0.3 A 0.15 A

93 A

50 VA

1 0.6 A 0.30 A 99 VA

2 0.9 A 0.45 A 148 VA

3 1.2 A 0.60 A 197 VA

4 1.5 A 0.75 A 247 VA

5 1.8 A 0.90 A 296 VA

6 2.1 A 1.05 A 345 VA

7 2.4 A 1.20 A 395 VA

Shunt Module (2093-ASP06) 2.5 A 1.25 A 410 VA

Slot Filler (2093-PRF) — — — —

Cat. No. 24V Current (non-brake motor)

24V Current (2 A brake motor)

24V Inrush Current (1)

(1) Inrush current duration is less than 30 ms.

2198-H003-ERSx0.4 A DC 2.4 A DC 2.0 A

2198-H008-ERSx

2198-H015-ERSx

0.8 A DC 2.8 A DC3.0

2198-H025-ERSx

2198-H040-ERSx

2198-H070-ERSx 1.3 A DC 3.3 A DC

2198-CAPMOD-1300 0.3 A DC N/A 2.0



Power Dissipation Specifications

Kinetix 2000 Servo Drive Power Dissipation Specifications

Use the following table to size an enclosure and calculate required ventilation for a Kinetix 2000 servo drive system.

Kinetix 5500 Servo Drive Power Dissipation Specifications

Use this table to size an enclosure and calculate required ventilation for a Kinetix 5500 drive system.

Kinetix 2000 Servo Drive Modules Usage as a Percentage of Rated Power Output (Watts)

20% 40% 60% 80% 100%

Converter (IAM) (1)

2093-AC05-MP1

Three-phase 7.0 10.5 14.0 17.4 20.9 2093-AC05-MP2

2093-AC09-MP5

2093-AC05-MP1

Single-phase 5.8 8.0 10.3 12.6 14.8 2093-AC05-MP2

2093-AC09-MP5

Inverter (IAM and AM) (1)

(1) Internal shunt power is not included in the calculations and must be added based on utilization.

2093-AC05-MP1 and 2093-AMP1 31.6 33.6 35.6 37.6 39.6

2093-AC05-MP2 and 2093-AMP2 33.0 36.4 39.8 43.3 46.8

2093-AC05-MP5 and 2093-AMP5 36.2 42.9 49.8 56.8 63.9

2093-AM01 38. 3 46.7 55. 3 64. 1 73. 1

2093-AM02 44. 3 55.6 67. 3 79.2 91.4

Shunt module (SM)

2093-ASP06 35.8 45.8 55.8 65.8 75.8

Power Rail

2093-PRSxx 0 0 0 0 0

Connector Kit

2093-K2CK-D15M 0 0 0 0 0


Usage as % of Rated Power Output (Watts)

20% 40% 60% 80% 100%

2198-H003-ERSx12 25 37 50 62

2198-H008-ERSx

2198-H015-ERSx

40 80 120 160 200 2198-H025-ERSx

2198-H040-ERSx

2198-H070-ERSx 64 128 192 256 320



Cable Lengths Kinetix 2000 Servo Drive Feedback Cable Lengths

Table 29 - MP-Series, Y-Series, and TL-Series Motors/Actuators

Kinetix 5500 Servo Drive Single Motor Cable Lengths

Although single motor cables are available in standard lengths up to 50 m (164 ft), use of continuous-flex cables limits the maximum cable length. This table assumes the use of 2090-Series single motor cables. See the Kinetix Motion Accessories Technical Data, publication GMC-TD004, for cable specifications.

Combined cable length for all axes on the same DC bus must not exceed 250 m (820 ft). Drive-to-motor cables must not exceed 50 m (164 ft).

MPL-A (230V) Motors (1) MPG-A, MPF-A, and MPS-A (230V) Motors (2)

MPAI-A (230V) Linear Actuators (3)

Y-Series (230V) Motors (4)

TL-Series (230V) Motors (5)

Absolute High-resolution

Incremental Absolute High-resolution

Absolute High-resolution

Incremental Absolute High-resolution

Incremental

30 m (98.4 ft) 30 m (98.4 ft) 30 m (98.4 ft) 30 m (98.4 ft) 30 m (98.4 ft) 30 m (98.4 ft) 30 m (98.4 ft)

(1) Refers to MPL-AxxxxS/M and E/V (single-turn or multi-turn) low-inertia motors with absolute high-resolution feedback. Refers to MPL-AxxxxH low-inertia motors with 2000-line incremental feedback.

(2) Refers to MPG-AxxxxS/M (single-turn or multi-turn) integrated rotary actuators with absolute high-resolution feedback. Refers to MPF-AxxxxS/M (single-turn or multi-turn) food-grade motors with absolute high-resolution feedback. Refers to MPS-AxxxxS/M (single-turn or multi-turn) stainless-steel motors with absolute high-resolution feedback.

(3) Refers to MPAI-AxxxxV/M (multi-turn) integrated linear actuators with absolute high-resolution feedback.(4) Refers to Y-Series motors with incremental (optical encoder) feedback.(5) Refers to TL-Axxxx-B low-inertia motors with absolute high-resolution feedback.

Refers to TL-Axxxx-H low-inertia motors with incremental feedback.


Standard (non-flex) Cables Cat. No. 2090-CSxM1DF-xxAAxx

Continuous-flex Cables Cat. No. 2090-CSBM1DF-xxAFxx

2198-H003-ERSx 2198-H008-ERSx 50 m (164 ft) 30 m (98.4 ft)

2198-H015-ERS x 2198-H025-ERS x 2198-H040-ERSx

50 m (164 ft)

2198-H070-ERSx 50 m (164 ft)

IMPORTANT System performance was tested at these cable length specifications. These limitations also apply when meeting CE requirements.




Environmental Specifications Kinetix 2000 Servo Drive Environmental Specifications

Kinetix 5500 Servo Drive Environmental Specifications

Attribute Operational Range Storage Range (non-operating)

Ambient Temperature 0…50 °C (32...122 °F) -40…85 °C (-40...185 °F)

Relative Humidity 5…95% noncondensing 5…95% noncondensing

Altitude 1000 m (3281 ft) 3000 m (9843 ft) with derating (1)

3000 m (9843 ft) during transport

Environmental Rating IP2X (EN60529) For use only in a Pollution Degree 2 Environment (UL508c, section 2.7) Open Device (UL508c, section 2.5)

Vibration 5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement; 55…500 Hz @ 2.0 g peak constant acceleration

Shock 15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually perpendicular directions)

Conformal Coating IB31: DSP and SERCOS pins, anti-dust and anti-humidity 1B73LSE: Power Rail connector pins, Converter, Inverter, Shunt, Power Rail, and Slot Filler PCB assemblies, clear UL creepage and clearance issue.

(1) Peak current output is derated by 15% for each 1000 m over 1000 m (3281 ft).

Attribute Operational Range Storage Range (nonoperating)

Ambient temperature 0…50 °C (32…122 °F) -40…70 °C (-40…158 °F)

Relative humidity 5…95% noncondensing 5…95% noncondensing

Altitude 1000 m (3281 ft) 3000 m (9843 ft) during transport

Vibration 5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement; 55…500 Hz @ 2.0 g peak constant acceleration

Shock 15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually perpendicular directions)



Certifications Kinetix 2000 Servo Drive Certifications

Kinetix 5500 Servo Drive Certifications

Certification (1)

(when product is marked)Standards

c-UL-us UL Listed to U.S. and Canadian safety standards (UL 508 C File E226834).

CE European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods.

European Union 73/23/EEC Low Voltage Directive compliant with:• EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.• EN 50178:1997 - Electronic Equipment for use in Power Installations.

Functional Safety • EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.• IEC 61508: Part 1-7:2000 - Functional Safety of Electrical/Electronic/Programmable Electronic Safety-

related Systems.• EN954-1:1996 - Safety of machinery. Safety related parts of control systems. Part 1: General

principles for design.

(1) See http://www.rockwellautomation.com/products/certification for Declarations of Conformity Certificates.

Agency Certification (1) Standards

c-UL-us (2) UL Listed to U.S. and Canadian safety standards (UL 508C File E59272).

Solid-state motor overload protection provides dynamic fold-back of motor current when 110% of the motor rating is reached with a peak current limit based on the peak rating of the motor as investigated by UL to comply with UL 508C (UL File E59272).

CE European Union 2004/108/EC EMC Directive compliant with EN 61800-3:2004: Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product Standard including specific test methods.

European Union 2006/95/EC Low Voltage Directive compliant with EN 61800-5-1:2007 - Adjustable speed electrical power drive systems.

Functional Safety TÜV Certified for Functional Safety: up to SIL CL2, according to EN 61800-5-2, EN 61508, and EN 62061; up to Performance Level PLd and Category 3, according to EN ISO 13849-1; when used as described in the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001.

C-Tick Australian Radio Communications Act, compliant with:• Radio Communications Act: 1992• Radio Communications (Electromagnetic Compatibility) Standard: 1998• Radio Communications (Compliance Labelling - Incidental Emissions) Notice: 1998• AS/NZS CISPR 11: 2002 (Group 1, Class A)

KC Korean Registration of Broadcasting and Communications Equipment, compliant with:• Article 58-2 of Radio Waves Act, Clause 3• Registration number: KCC-REM-RAA-2198

ODVA EtherNet/IP conformance tested.

OSHA Maximum audible noise from the servo drive system complies with OSHA standard 3074, Hearing Conservation (<85 dBA).

(1) When product is marked, see http://www.ab.com for Declarations of Conformity Certificates.(2) UL has not evaluated the safe-off, safe torque-off, or safe speed-monitoring options in these products.


http://www.rockwellautomation.com/products/certification

http://www.ab.com

http://www.ab.com



Notes:


Appendix D

Interconnect Diagrams

Kinetix 2000 Servo Drive Examples

This section provides wiring examples to assist you in wiring the Kinetix 2000 servo drive system.

Power Wiring Examples

Figure 5 - Single IAM Wiring Example with LIM 2094-AL09

L3

L2

L1

24-26

13

20-22

4

L1

L2

L3

DC-

DC+

CTRL 1

CTRL 2CTRL 1

CTRL 2

L1'

L2'

L3'

1

2

1

2

3

4

5

6

1

2

1

2

3

4IO_PWR

COIL_A1

IO_COM

COIL_A2

1

2

1

2

3

4PWR

MBRK+

MBRK-

COM

BR+

BR-

MBRK_PWR

MBRK_COM

MBRK_PWR

MBRK_COM

STOP *

CONT EN-

CONT EN+

4

3

2

1

W

V

U

U

V

W

1

2

3

4

KINETIX 2000INTEGRATED AXIS MODULE

2093-ACxx-MPx

Motor Power(MP) Connector

Motor Brake(BC) Connector

24V DC OutputConnector

Bonded CabinetGround Bus *

I/O Connector

Single-Phase Output170-264V AC RMS

Three-Phase Output170-264V AC RMS

VAC Line Input170-264V AC RMS

Input Fusing *

LINE INTERFACE MODULE2094-AL09

* INDICATES USER -SUPPLIED COMPONENT

Main Power(IPD) Connector

Contactor Enable (CED) Connector

Control Power(CPD) Connector

Motor BrakeConnections

Input Fusing *

Three-Phase Motor Power Connections


Appendix D Interconnect Diagrams

The configuration on this page does not include a LIM. You must supply input power components. The single-phase and three-phase line filters are wired downstream of fusing and the M1 contactor.

Figure 6 - Three-Phase Power Input (without LIM) to IAM Wiring Example

ATTENTION: Wiring the contactor enable (CED) relay is required. To avoid injury or damage to the drive, wire the contactor enable relay into your safety control string.

L1

L2

L3

DC+

DC-

CTRL 1CTRL 2

CONT_EN+CONT_EN-

U

V

W

1

2

3

4

1

2

3

4

5

6

1

2

1

2

1

2

3

4

PWR

MBRK+

MBRK-

COM

BR+

BR-

CTRL_1CTRL_2

1

2

3

4

5

6

1

2

L1L2L3

DC+DC-

24V AC/DCor

120V AC,50/60 Hz

Single-Phase Input170-264V AC RMS

START *

Control Power (CPD) Connector

CR1 *M1 *

CR1 *

CR1 *

STOP *Contactor Enable (CED) Connector


2093-AC05-MPx

Three-PhaseMotor PowerConnections

Main Power (IPD) Connections

M1 *

Motor Power (MP) Connector

Three-PhaseAC Line Filter

Power RailGround Stud

VAC LineThree-Phase Input170-264V AC RMS

Isolation Transformer *

Chassis

I/O Connection

I/O Connection

Motor Brake Connections



VAC LineThree-Phase Input170-264V AC RMS

Chassis



Main Power IIPD) Connections

ALTERNATE INPUT POWER CONNECTION SCHEME * INDICATES USER-SUPPLIED COMPONENT

Bonded Cabinet Ground Bus *


Input Fusing *

InputFusing *

Input Fusing *

InputFusing *

Three-PhaseAC Line Filter

Single-PhaseAC Line Filter

IsolationTransformer *

M1 *


Interconnect Diagrams Appendix D

The configuration on this page does not include a LIM. You must supply input power components. The single-phase and three-phase line filters are wired downstream of fusing and the M1 contactor.

Figure 7 - Single-Phase Power Input (without LIM) to IAM Wiring Example

ATTENTION: Wiring the contactor enable (CED) relay is required. To avoid injury or damage to the drive, wire the contactor enable relay into your safety control string.

L1

L2

L3

DC+

DC-

CTRL 1CTRL 2

CONT_EN+CONT_EN-

U

V

W

1

2

3

4

1

2

3

4

5

6

1

2

1

2

1

2

3

4

PWR

MBRK+

MBRK-

COM

BR+

BR-

1

2

3

4

5

6

1

2CTRL_1CTRL_2

L1L2L3

DC+DC-

24V AC/DCor

120V AC,50/60 HZ


START *


CR1 *M1 *

CR1 *

CR1 *

STOP *Contactor Enable (CED) Connector


2093-AC05-MPx

Three-PhaseMotor PowerConnections

Main Power (IPD) Connections

M1 *

Motor Power (MP) Connector



VAC LineSingle-Phase Input

170-264V AC RMS

Chassis

I/O Connection

I/O Connection



Bonded Cabinet Ground Bus * Power RailGround Stud

Input Fusing *

VAC LineSingle-Phase Input

170-264V AC RMS

Chassis



Main Power IIPD) Connections

Input Fusing *

ALTERNATE INPUT POWER CONNECTION SCHEME

Isolation Transformer *


Input Fusing *

Input Fusing *


Note 3


IsolationTransformer *

M1 *

* INDICATES USER-SUPPLIED COMPONENT



DC Common Bus Wiring Examples

Figure 8 - Leader IAM Wiring Example with Single Follower IAM

CON

T EN

+CO

NT

EN-

U V WL1 L2 L3 DC

+

DC-

CTRL

_1CT

RL_2

1 2 1 2 3 4 5 6 1 2

CON

T EN

+CO

NT

EN-

U V WL1 L2 L3 DC

+

DC-

CTRL

_1CT

RL_2

1 2 1 2 3 4 5 6 1 2

1 2 3 4

N.C.

N.C.

N.C.

1 2 3 4

PWR

MBR

K+

MBR

K-

COM

BR+

BR-

1 2 3 4

PWR

MBR

K+

MBR

K-

COM

BR+

BR-

1 2 3 4

Mot

or B

rake

Co

nnec

tions

I/O Co

nnec

tion

I/O Co

nnec

tion

Mot

or B

rake

(B

C) Co

nnec

tor

Cont

rol P

ower

(C

PD) C

onne

ctor

Cont

acto

r Ena

ble

(CED

) Con

necto

r

Thre

e-Ph

ase

Mot

or Po

wer

Conn

ectio

nsM

ain Po

wer

(IPD)

Conn

ectio

ns

Mot

or Po

wer

(MP)

Conn

ecto

r

Powe

r Rail

Grou

nd St

ud

Mot

or B

rake

Co

nnec

tions

I/O Co

nnec

tion

I/O Co

nnec

tion

Powe

r Rail

Grou

nd St

ud

Single

-Pha

se In

put

170-

264V

AC R

MS

VAC L

ine

Thre

e-Ph

ase I

nput

170-

264V

AC R

MS

Thre

e-Ph

ase

Mot

or Po

wer

Conn

ectio

ns

Mot

or B

rake

(B

C) Co

nnec

tor

Cont

rol P

ower

(C

PD) C

onne

ctor

Cont

acto

r Ena

ble

(CED

) Con

necto

r

Main

Powe

r (IP

D) Co

nnec

tions

Mot

or Po

wer

(MP)

Conn

ecto

r

Wire

the L

eade

r and

Follo

wer I

AMCo

ntac

tor E

nable

term

inals

in se

ries

with

the S

afety

Cont

rol S

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or LI

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KINE

TIX 2

000

COM

MON

BUS

FOLL

OWER

IAM

2093

-AC0

5-M

Px

KINE

TIX 2

000

COM

MON

BUS

LEAD

ER IA

M20

93-A

C05-

MPx

Bond

ed Ca

bine

tGr

ound

Bus

*

Bond

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bine

tGr

ound

Bus

*

* IN

DICA

TES U

SER-

SUPP

LIED

COM

PONE

NT



Kinetix 5500 Servo Drive Power Wiring Examples

This section provides wiring examples to assist you in wiring the Kinetix 5500 servo drive system.

You must supply input power components. The single-phase and three-phase line filters are wired downstream of the input fusing.

Single-axis Drive Wiring Examples

Figure 9 - Kinetix 5500 Servo Drives Power Wiring (three-phase operation)

DATA +/EPWR+

DATA -/EPWR-

L3

L2

L1

24V_COM

+24V

2

1

MBRK -

MBRK +DC+

DC-

D+

D-

IN1

COM

IN2

SHLD

1

2

4

3

2

1

1

2

3

4

MBRK -

MBRK +

U

V

W

2

1

4

3

2

1

DC+

SH

195…264V AC rms or324…528V AC rms

Three-phase Input


Control Power (CP) Connector

PE Ground

Mains AC Input (IPD) Connector

Input Fusing *

* INDICATES USER SUPPLIED COMPONENT

2198-Hxxx-ERSx Kinetix 5500 Servo Drives

Chassis

Ground Screws

Customer Supplied +24V DC

Power Supply *


Three-phase Motor Power Connections


Cable ShieldClamp

DC Bus (DC) Connector

Shunt (RC) Connector

Motor Feedback(MF) Connector

Digital Input(IOD) Connector


Motor Feedback Connections

Registration and Home Input Connections

2198-DBxx-F Three-phase AC Line Filter

Internal Shunt



Figure 10 - Kinetix 5500 Servo Drives Power Wiring (single-phase operation)

DATA +/EPWR+

DATA -/EPWR-

L3

L2

L1

2

1

MBRK -

MBRK +

U

V

W

2

1

D+

D-

IN1

COM

IN2

SHLD

1

2

4

3

2

1

4

3

2

1

1

2

3

4

MBRK -

MBRK +

DC+

SH

24V_COM

+24V

DC+

DC-

195…264V AC rmsSingle-phase Input


Control Power (CP) Connector

Mains AC Input (IPD) Connector


2198-H003-ERSx, 2198-H008-ERSx, or 2198-H015-ERSx


Chassis

Ground Screws


Power Supply *


Three-phase Motor Power Connections


Cable ShieldClamp

DC Bus (DC) Connector (does not apply in single-phase operation)

Shunt (RC) Connector

Motor Feedback(MF) Connector

Digital Input(IOD) Connector


Motor Feedback Connections

Registration and Home Input Connections

Input Fusing *


Internal Shunt

PE Ground



Bus-sharing Wiring Examples

For bus-sharing configurations, use the 2198-H0x0-xx-x shared-bus connection system to extend power from drive to drive.

Figure 11 - Kinetix 5500 Servo Drives with Shared AC Bus

Figure 12 - Kinetix 5500 Servo Drives with Shared AC/DC Bus

L3

L2

L1

24V_COM

+24V

2

1

4

3

2

1

L3

L2

L1

24V_COM

+24V

L3

L2

L1

24V_COM

+24V

DC+

DC-

DC+

DC-

DC+

DC-


Three-phase Input


Control Power (CP) Connectors



Chassis


Power Supply *

DC Bus (DC) Connectors




PE Ground

PE Ground

PE Ground

Input Fusing *

2198-H0x0-ADP-IN Bus Bar Connectors

2198-H0x0-AP-T Bus Bar Connectors

2198-H0x0-AP-T Bus Bar Connectors

Three-phase Input (IPD) Connectors

L3

L2

L1

4

3

2

1

L3

L2

L1

L3

L2

L1

24V_COM

+24V

2

124V_COM

+24V

24V_COM

+24V

DC+

DC-

DC+

DC-

DC+

DC-


Three-phase Input



Three-phase Input (IPD) Connectors


Chassis


Power Supply *





PE Ground

PE Ground

PE Ground

Input Fusing *



2198-H0x0-ADP-T Bus Bar Connectors




Figure 13 - Kinetix 5500 Servo Drives with Shared DC (common bus)

Figure 14 - Kinetix 5500 Servo Drives with Shared AC/DC Hybrid Bus

L3

L2

L1

4

3

2

1

L3

L2

L1

L3

L2

L1

24V_COM

+24V

2

124V_COM

+24V

24V_COM

+24V

DC+

DC-

DC+

DC-

DC+

DC-


Three-phase Input



Three-phase Input (IPD) Connector



Chassis


Power Supply *





PE Ground

PE Ground

PE Ground

Input Fusing *


2198-H0x0-DP-T Bus Bar Connectors


L3

L2

L1

4

3

2

1

L3

L2

L1

L3

L2

L1

24V_COM

+24V

2

124V_COM

+24V

24V_COM

+24V

DC+

DC-

DC+

DC-

DC+

DC-


Three-phase Input



Three-phase Input (IPD) Connector


Chassis


Power Supply *





PE Ground

PE Ground

PE Ground

Input Fusing *






Appendix E

Communication Configurations

The Kinetix 5500 servo drives support any Ethernet topology including linear, ring, and star.

These examples feature the CompactLogix 5370 programmable automation controllers (catalog number 1769-L36ERM) with support for Integrated Motion over the EtherNet/IP network. Controller features include the following:

• Supports up to 16 axes• Supports up to 48 devices in linear configurations• Dual-port connectivity to support device-level ring (DLR) topology

See the CompactLogix Controllers Specifications Technical Data, publication 1769-TD005, for more information on CompactLogix 5370 L1, L2, and L3 controllers.


http://literature.rockwellautomation.com/idc/groups/literature/documents/td/1769-td005_-en-p.pdf

Appendix E Communication Configurations

Kinetix 5500 Servo Drive Linear Topology

In this example, all devices are connected in linear topology. The Kinetix 5500 servo drives include dual-port connectivity, however, if any device becomes disconnected, all devices downstream of that device lose communication. Devices without dual ports must include the 1783-ETAP module or be connected at the end of the line.

Figure 15 - Kinetix 5500 Servo Drive Linear Communication Installation

1 (Front)2 (Rear)

00:00:BC:2E:69:F6

0 20 1734-AENTR

ModuleStatus

NetworkActivity

NetworkStatus

Point BusStatus

SystemPower

FieldPower

POINT I O

Link 1 Activity/Status


CompactLogix 5370 Controller Logix Designer Application


1734-AENTR POINT I/O™ EtherNet/IP Adapter

CompactLogix Controller Programming Network

PanelView™ Plus Display Terminal

1585J-M8CBJM-OM3 0.3 m (1.0 ft) Ethernet cable for drive-to-drive connections.

Kinetix 5500 Servo Drive System


Communication Configurations Appendix E

Kinetix 5500 Servo Drive Ring Topology

In this example, the devices are connected by using ring topology. If only one device in the ring is disconnected, the rest of the devices continue to communicate. For ring topology to work correctly, a device level ring (DLR) supervisor is required (for example, the Bulletin 1783 ETAP device). DLR is an ODVA standard. For more information, see the EtherNet/IP Embedded Switch Technology Application Guide, publication ENET-AP005.

Devices without dual ports require a DLR supervisor, for example the 1783-ETAP module, to complete the network ring.

Figure 16 - Kinetix 5500 Servo Drive Ring Communication Installation

1 (Front)2 (Rear)

00:00:BC:2E:69:F6

0 20 1734-AENTR

ModuleStatus

NetworkActivity

NetworkStatus

Point BusStatus

SystemPower

FieldPower

POINT I O




1783-ETAPModule

1585J-M8CBJM-OM3 0.3 m (1.0 ft) Ethernet cable for drive-to-drive connections.

PanelView Plus Display Terminal




1734-AENTR POINT I/O EtherNet/IP Adapter


http://literature.rockwellautomation.com/idc/groups/literature/documents/ap/enet-ap005_-en-p.pdf

Appendix E Communication Configurations

Kinetix 5500 Servo Drive Star Topology

In this example, the devices are connected by using star topology. Each device is connected directly to the switch.

Kinetix 5500 servo drives have dual ports, so linear topology is maintained from drive-to-drive, but Kinetix 5500 servo drives and other devices operate independently. The loss of one device does not impact the operation of other devices.

Figure 17 - Kinetix 5500 Servo Drive Star Communication Installation

1 (Front)2 (Rear)

00:00:BC:2E:69:F6


1734-AENTR POINT I/O EtherNet/IP Adapter


PanelView Plus Display Terminal

1783-BMS Stratix 5700 ™

Switch with PTP

1585J-M8CBJM-OM3 0.3 m (1.0 ft) Ethernet cable

for drive-to-drive connections.




Publication 2093-AP001A-EN-P - May 2014 Copyright © 2014 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

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